| Intangible Assets, Net - Components of Intangible Assets (Details) - USD ($) $ in Thousands | Sep. 30, 2021 | Dec. 31, 2020 | 
|---|---|---|
| Amortized intangible assets | ||
| Gross Carrying Amount | $ 3,359 | $ 2,589 | 
| Accumulated Amortization | (1,032) | (884) | 
| Net Carrying Amount | 2,327 | 1,705 | 
| Unamortized intangible assets | ||
| Intangible assets, gross | 3,733 | 2,938 | 
| Intangible assets, net | 2,701 | 2,054 | 
| Trademarks | ||
| Unamortized intangible assets | ||
| Carrying Amount | 374 | 349 | 
| Patents | ||
| Amortized intangible assets | ||
| Gross Carrying Amount | 2,258 | 1,496 | 
| Accumulated Amortization | (206) | (139) | 
| Net Carrying Amount | 2,052 | 1,357 | 
| License agreements | ||
| Amortized intangible assets | ||
| Gross Carrying Amount | 1,101 | 1,093 | 
| Accumulated Amortization | (826) | (745) | 
| Net Carrying Amount | $ 275 | $ 348 | 
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- Definition Accumulated amount of amortization of assets, excluding financial assets and goodwill, lacking physical substance with a finite life. Reference 1: http://www.xbrl.org/2003/role/disclosureRef 
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- Definition Amount before amortization of assets, excluding financial assets and goodwill, lacking physical substance with a finite life. Reference 1: http://www.xbrl.org/2003/role/disclosureRef 
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- Definition Amount after amortization of assets, excluding financial assets and goodwill, lacking physical substance with a finite life. Reference 1: http://www.xbrl.org/2003/role/disclosureRef 
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- Definition A roll forward is a reconciliation of a concept from the beginning of a period to the end of a period. No definition available. 
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- Definition Amount of assets, excluding financial assets and goodwill, lacking physical substance and having a projected indefinite period of benefit. Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef 
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- Definition A roll forward is a reconciliation of a concept from the beginning of a period to the end of a period. No definition available. 
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- Definition Amount before accumulated amortization of intangible assets, excluding goodwill. No definition available. 
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- Definition Sum of the carrying amounts of all intangible assets, excluding goodwill, as of the balance sheet date, net of accumulated amortization and impairment charges. Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef 
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