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Legal and Regulatory Matters - Brazilian Regulation (Details) $ in Thousands	3 Months Ended								12 Months Ended
	Dec. 31, 2020 USD ($)	Sep. 30, 2020 USD ($)	Jun. 30, 2020 USD ($)	Mar. 31, 2020 USD ($)	Dec. 31, 2019 USD ($)	Sep. 30, 2019 USD ($)	Jun. 30, 2019 USD ($)	Mar. 31, 2019 USD ($)	Dec. 31, 2020 USD ($) educationalInstitution	Dec. 31, 2019 USD ($)	Dec. 31, 2018 USD ($)
Loss Contingencies [Line Items]
Revenues	$ 285,219	$ 243,523	$ 303,856	$ 192,319	$ 351,846	$ 277,267	$ 370,938	$ 212,019	$ 1,024,917	$ 1,212,070	$ 1,144,574
Brazil
Loss Contingencies [Line Items]
Number of postsecondary educational institutions (educational institution) | educationalInstitution									10
Percentage of students enrolled in government programs									4.00%	7.00%
Percentage of funds received									8.50%	13.00%
Brazil | Grant
Loss Contingencies [Line Items]
Revenues									$ 75,700	$ 100,600	$ 112,500

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