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Share-based Compensation and Equity - Summary of Share-based Compensation Expense (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |
Total non-cash stock compensation | $ 13,298 | $ 12,994 | $ 10,791
Continuing operations |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |
Total non-cash stock compensation | 10,248 | 10,325 | 6,574
Continuing operations | Stock options, net of estimated forfeitures |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |
Total non-cash stock compensation | 1,291 | 3,101 | (3,610)
Continuing operations | Restricted stock awards |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |
Total non-cash stock compensation | 8,957 | 7,224 | 10,184
Discontinued operations |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |
Total non-cash stock compensation | $ 3,050 | $ 2,669 | $ 4,217

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