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Intangible Assets - Schedule of Expected Aggregate Annual Amortization Expense for Finite-Lived intangible Assets (Details)
$ in Thousands
Dec. 31, 2020
USD ($)
Goodwill and Intangible Assets Disclosure [Abstract]  
2021 $ 13,656
2022 13,486
2023 13,451
2024 12,494
2025 $ 12,412