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Income Taxes - Additional information (Details) - USD ($)
$ in Millions
3 Months Ended 9 Months Ended 12 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Sep. 30, 2021
Sep. 30, 2020
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Operating Loss Carryforwards [Line Items]              
Statutory tax rate (as a percent) 21.00% 21.00% 21.00% 21.00% 21.00% 21.00% 21.00%
Effective income tax rate 9.00% 0.60% 24.20% 3.60% 7.80% 1.00% (1.20%)
Increase decrease in valuation allowance         $ 3.7 $ 6.3 $ 18.8
Domestic Tax Authority [Member]              
Operating Loss Carryforwards [Line Items]              
Net operating losses         277.0    
Net operating losses subject to expiration         $ 198.0    
Percentage of offset of future taxable income         100.00%    
operating losses indefinite lived carryforward         $ 79.0    
Percentage of offset of future taxable income for indefinite lived carryforward losses         80.00%    
Operating loss carry forward period         2019    
State              
Operating Loss Carryforwards [Line Items]              
Net operating losses         $ 8.9    
Federal research and development tax credits         $ 7.6    
Operating loss carry forward period         2016