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Revenue from Contracts with Customers Revenue from Contracts with Customers - Amortized and Capitalized Costs (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Capitalized Contract Cost [Roll Forward]    
Beginning Balance $ 11,005 $ 10,091
Contract payments 8,154 6,518
Contract amortization (4,490) (5,604)
Ending Balance $ 14,669 $ 11,005