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Other Assets - Schedule of Other Assets (Details) - USD ($) $ in Thousands | Sep. 30, 2021 | Jun. 30, 2021 | Dec. 31, 2020 | Sep. 30, 2020 | Jun. 30, 2020 | Dec. 31, 2019
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Deferred Costs, Capitalized, Prepaid, and Other Assets Disclosure [Abstract] |  |  |  |  |  |
Prepaid expenses, net of current portion | $ 20,606 |  | $ 22,418 |  |  |
Equity method investments | 14,532 | $ 17,401 | 15,795 | $ 16,734 | $ 16,990 | $ 15,795
Cloud computing arrangements | 6,665 |  | 6,385 |  |  |
Other investments | 2,999 |  | 2,527 |  |  |
Tuition receivable, non-current | 2,912 |  | 3,585 |  |  |
Other | 6,710 |  | 4,218 |  |  |
Other assets | $ 54,424 |  | $ 54,928 |  |  |

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