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Interest Expense and Amortized Debt Issuance Costs (Tables)
9 Months Ended
Sep. 30, 2021
Interest Expense And Amortized Debt Issuance Costs [Abstract]  
Summary of Interest Expense And Amortized Debt Issuance Costs
The following tables summarize interest expense and amortized debt issuance costs for the three and nine months ended September 30 (in thousands):

Three Months Ended September 30,Nine Months Ended September 30,
2021202020212020
Interest expense$5,842 $4,038 $15,535 $14,710 
Amortized debt issuance costs572 474 1,735 1,451 
Interest expense and amortized debt issuance costs$6,414 $4,512 $17,270 $16,161