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Revenue Recognition - Contract Costs (Details) - USD ($)
$ in Thousands
3 Months Ended 6 Months Ended
Jun. 30, 2021
Jun. 30, 2020
Jun. 30, 2021
Jun. 30, 2020
Dec. 31, 2020
Capitalized Contract Cost [Line Items]          
Contract cost amortization     $ 8,311 $ 10,272  
Capitalized contract cost, amortization period 5 years   5 years    
Bonuses and Commissions          
Capitalized Contract Cost [Line Items]          
Contract cost assets $ 3,600   $ 3,600   $ 3,300
Contract cost amortization 600 $ 400 1,000 900  
Contract Fulfillment Costs          
Capitalized Contract Cost [Line Items]          
Contract cost assets 18,800   18,800   $ 23,400
Contract cost amortization $ 4,600 $ 4,300 $ 7,300 $ 9,400