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Notes Payable and Other Noncurrent Liabilities - Current and Noncurrent Portions of Notes Payable (Details) - USD ($)
$ in Thousands
9 Months Ended 12 Months Ended
Sep. 30, 2021
Dec. 31, 2020
Notes Payable and Other Noncurrent Liabilities    
Less: Current portion $ 82,915 $ 33,144
Notes payable, less current portion   74,630
Amended and restated credit agreement    
Notes Payable and Other Noncurrent Liabilities    
Notes payable including current portion 82,915 107,774
Less: Current portion 82,915 33,144
Notes payable, less current portion   74,630
Amended and restated credit agreement | Term loan facility    
Notes Payable and Other Noncurrent Liabilities    
Quarterly payment of notes payable 8,368  
Notes payable including current portion $ 82,915 $ 107,774
Amended and restated credit agreement | Term loan facility | 30-Day LIBOR    
Notes Payable and Other Noncurrent Liabilities    
Margin on variable interest rate 2.00% 2.00%
Interest rate of notes payable 2.09%