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Summary of Significant Accounting Policies - Contract Fulfillment Assets (Details) - Contract fulfilment costs - USD ($)
$ in Thousands
Sep. 30, 2020
Dec. 31, 2019
Contract With Customer, Asset And Liabilities [Line Items]    
Gross Carrying Amount $ 123,795 $ 109,232
Accumulated Amortization (57,538) (50,757)
Net Carrying Amount $ 66,257 $ 58,475