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Goodwill and Intangible Assets - Additional Information (Details) - USD ($)
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Goodwill And Intangible Assets Disclosure [Abstract]      
Amortization expense related to intangible assets $ 3,201,000 $ 5,381,000 $ 11,769,000
Impairment of goodwill $ 0 $ 0