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Summary of Significant Accounting Policies - Allowance for Doubtful Accounts Receivable (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Allowance for Doubtful Accounts Receivable      
Balance, beginning of year $ 3,628 $ 3,735 $ 3,115
Additions to expense 1,102 1,481 778
Write-offs (466) (1,532) (158)
Other (14) (56)  
Balance, end of year $ 4,250 $ 3,628 $ 3,735