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Accrued Liabilities an Other Long-term Liabilities (Details) - USD ($) $ in Thousands | Dec. 31, 2021 | Dec. 31, 2020
--- | --- | ---
Accrued Liabilities [Abstract] |  |
Salaries and benefits | $ 27,304 | $ 25,786
Incentive compensation | 33,107 | 27,023
Operating Lease, Liability, Current | 9,009 | 8,740
Accrued Professional Fees | 773 | 1,273
Legal accrual | 3,897 | 900
Accrued sales taxes | 1,980 | 2,146
Warranties and returns | 532 | 1,027
Contract with Customer, Liability, Current | 12,646 | 5,566
Accrued other taxes | 4,337 | 3,540
Outside commissions | 5,645 | 5,300
Accrued freight | 9,194 | 6,784
Restructuring accrual | 664 | 3,421
Other | 9,107 | 5,515
Accrued liabilities | $ 118,195 | $ 97,021

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