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Revenue from Contracts with Customers - Disaggregation of Revenue by Geographic Market (Details) - USD ($)
$ in Thousands
3 Months Ended
Mar. 31, 2021
Mar. 31, 2020
Disaggregation of Revenue [Line Items]    
Total Revenue $ 341,173 $ 359,183
Domestic    
Disaggregation of Revenue [Line Items]    
Total Revenue 256,491 296,362
Foreign    
Disaggregation of Revenue [Line Items]    
Total Revenue $ 84,682 $ 62,821