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Leases - Lease Cost (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Lease cost    
Total operating lease cost $ 5,159 $ 4,794
Depreciation of leased assets 1,336 1,348
Interest on lease liabilities 5,211 5,155
Total finance lease cost 6,547 6,503
Total lease cost 11,706 11,297
Short-term lease and variable lease costs 1,200 900
Service    
Lease cost    
Total operating lease cost 2,402 2,315
Research and development    
Lease cost    
Total operating lease cost 491 313
Sales and marketing*    
Lease cost    
Total operating lease cost 1,389 1,378
General and administrative*    
Lease cost    
Total operating lease cost $ 877 $ 788