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Stock Incentive Plans - Share-based Compensation Expense (Details) - USD ($) $ in Thousands | 3 Months Ended | 9 Months Ended
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Sep. 30, 2021 | Sep. 30, 2020 | Sep. 30, 2021 | Sep. 30, 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Total share-based compensation expense | $ 2,283 | $ 2,247 | $ 7,031 | $ 7,628
Continuing Operations | Salaries, Wages and Employee Benefits |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Total share-based compensation expense | 2,283 | 2,085 | 7,015 | 7,056
Discontinued Operations | Salaries, Wages and Employee Benefits |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Total share-based compensation expense | $ 0 | $ 162 | $ 16 | $ 572

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