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Basis of Presentation - Schedule of Cash and Restricted Cash (Details) - USD ($)
$ in Thousands
Jun. 30, 2021
Dec. 31, 2020
Jun. 30, 2020
Dec. 31, 2019
Organization, Consolidation and Presentation of Financial Statements [Abstract]        
Cash and Cash Equivalents $ 39,365 $ 15,617 $ 19,607  
Restricted Cash, Current Portion 768 735 738  
Restricted Cash, Less Current Portion 4,751 5,247 5,576  
Total Cash, Cash Equivalents, and Restricted Cash $ 44,884 $ 21,599 $ 25,921 $ 16,283