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Condensed Consolidated Balance Sheets (Unaudited) (Parenthetical) - USD ($)
$ in Thousands
Sep. 30, 2021
Dec. 31, 2020
Statement of Financial Position [Abstract]    
Allowance for credit losses on accounts receivable and unbilled receivables $ 4,396 $ 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) 53,763,000 52,677,000
Common stock, shares outstanding (in shares) 43,869,000 42,783,000
Treasury stock, shares outstanding (in shares) 9,894,000 9,894,000