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Leases - Lease Cost (Details) - USD ($)
$ in Thousands
 3 Months Ended
Mar. 31, 2021
Mar. 31, 2020
Lease cost    
Total operating lease cost $ 1,407 $ 1,178
Depreciation of leased assets 328 353
Interest on lease liabilities 1,279 1,303
Total finance lease cost 1,607 1,656
Total lease cost 3,014 2,834
Short-term lease and variable lease costs 400 200
Service    
Lease cost    
Total operating lease cost 639 550
Research and development    
Lease cost    
Total operating lease cost 130 81
Sales and marketing*    
Lease cost    
Total operating lease cost 378 332
General and administrative*    
Lease cost    
Total operating lease cost $ 260 $ 215