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Restructuring Expenses - Narrative (Details) - USD ($)
3 Months Ended 9 Months Ended
Sep. 30, 2021
Mar. 31, 2021
Sep. 30, 2021
Sep. 30, 2020
Restructuring and Related Activities [Abstract]        
Restructuring expenses $ 0 $ 2,000,000 $ 2,020,000 $ 9,961,000