General form of registration statement for all companies including face-amount certificate companies

Summary of Significant Accounting Policies - Property and Equipment, Net and Equipment on Lease, Net (Details)

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Summary of Significant Accounting Policies - Property and Equipment, Net and Equipment on Lease, Net (Details)
 6 Months Ended 12 Months Ended
Jun. 30, 2021
Dec. 31, 2020
Equipment on lease    
Property, Plant and Equipment [Line Items]    
Estimated Useful Life 5 years 5 years
Computers and software    
Property, Plant and Equipment [Line Items]    
Estimated Useful Life   3 years
R&D lab equipment    
Property, Plant and Equipment [Line Items]    
Estimated Useful Life   5 years
Furniture and fixtures    
Property, Plant and Equipment [Line Items]    
Estimated Useful Life   5 years
Leasehold improvements    
Property, Plant and Equipment [Line Items]    
Estimated Useful Life   5 years