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Summary of Significant Accounting Policies - Cash and Cash Equivalents (Details) - USD ($) $ in Thousands | Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018 | Dec. 31, 2017
--- | --- | --- | --- | ---
Cash and Cash Equivalents [Line Items] |  |  |  |
Cash and cash equivalents | $ 184,620 | $ 164,798 | $ 78,687 | $ 138,285
Cash equivalents | 98,000 | 37,800 |  |
Held in Domestic Bank Accounts |  |  |  |
Cash and Cash Equivalents [Line Items] |  |  |  |
Cash and cash equivalents | 156,122 | 130,771 |  |
Held in Foreign Bank Accounts |  |  |  |
Cash and Cash Equivalents [Line Items] |  |  |  |
Cash and cash equivalents | 28,498 | 34,027 |  |
Held by Joint Ventures |  |  |  |
Cash and Cash Equivalents [Line Items] |  |  |  |
Cash and cash equivalents | 11,687 | 6,534 |  |
Held by Domestic Joint Ventures |  |  |  |
Cash and Cash Equivalents [Line Items] |  |  |  |
Cash and cash equivalents | 7,714 | 6,518 |  |
Held by Foreign Joint Ventures |  |  |  |
Cash and Cash Equivalents [Line Items] |  |  |  |
Cash and cash equivalents | 3,973 | 16 |  |
Not Held by Joint Ventures |  |  |  |
Cash and Cash Equivalents [Line Items] |  |  |  |
Cash and cash equivalents | $ 172,933 | $ 158,264 |  |

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- Definition Amount of currency on hand as well as demand deposits with banks or financial institutions. Includes other kinds of accounts that have the general characteristics of demand deposits. Also includes short-term, highly liquid investments that are both readily convertible to known amounts of cash and so near their maturity that they present insignificant risk of changes in value because of changes in interest rates. Excludes cash and cash equivalents within disposal group and discontinued operation. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 230 -SubTopic 10 -Section 45 -Paragraph 4 -URI http://asc.fasb.org/extlink&oid=121586364&loc=d3e3044-108585 Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 210 -SubTopic 10 -Section 45 -Paragraph 1 -Subparagraph (a) -URI http://asc.fasb.org/extlink&oid=121566466&loc=d3e6676-107765 Reference 3: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 210 -SubTopic 10 -Section S99 -Paragraph 1 -Subparagraph (SX 210.5-02.1) -URI http://asc.fasb.org/extlink&oid=120391452&loc=d3e13212-122682 + Details
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