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Financing Arrangements - Equipment Notes (Details) $ in Thousands | 12 Months Ended |
--- | --- | ---
Dec. 31, 2021 USD ($) | Dec. 31, 2020 USD ($) | Dec. 31, 2019 USD ($) | Aug. 31, 2020 agreement
Debt Disclosure [Abstract] |  |  |  |
Number of long-term financing agreements | agreement |  |  |  | 6
Interest expense, debt | $ | $ 852 | $ 880 | $ 463 |

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