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Revenue from Contract with Customers - Contract Assets (Details) - USD ($)
$ in Thousands
Jun. 30, 2021
Dec. 31, 2020
Disaggregation of Revenue    
Accounts receivable, trade, net of allowance $ 106,393 $ 104,425
Contract with Customers    
Disaggregation of Revenue    
Accounts receivable, trade, net of allowance $ 96,000 $ 95,600