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Leases - Schedule of Lease Costs and Other Lease Information (Details) - USD ($)
$ in Thousands
 3 Months Ended 9 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Sep. 30, 2021
Sep. 30, 2020
Lease Expense        
Operating lease expense $ 1,498 $ 1,585 $ 4,459 $ 4,898
Finance lease expense:        
Amortization of ROU assets 50 43 149 124
Interest on lease liabilities 28 27 85 80
Total 1,576 1,655 4,693 5,102
Operating cash flows from operating leases 1,322 1,756 4,119 4,808
Operating cash flows from finance leases 28 27 85 80
Financing cash flows from finance leases $ 50 $ 47 $ 146 $ 141