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Condensed Consolidated Balance Sheets (Unaudited) (Parenthetical) - USD ($)
$ in Thousands
Mar. 31, 2021
Dec. 31, 2020
Statement of Financial Position [Abstract]    
Allowance for credit losses on accounts receivable and unbilled receivables $ 5,518 $ 4,286
Preferred stock, par value (in dollars per share) $ 0.001 $ 0.001
Preferred stock, shares, authorized (in shares) 5,000,000 5,000,000
Preferred stock, shares, issued (in shares) 0 0
Common stock, par value (in dollars per share) $ 0.001 $ 0.001
Common stock, shares, authorized (in shares) 100,000,000 100,000,000
Common Stock, shares, issued (in shares) 53,065,000 52,677,000
Common stock, balance (in shares) 43,171,000 42,783,000
Treasury stock, shares (in shares) 9,894,000 9,894,000