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Revenue Recognition - Schedule of Deferred Revenue (Details) (Parenthetical) - USD ($)
$ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2020
Sep. 30, 2019
Sep. 30, 2020
Sep. 30, 2019
Revenue from Contract with Customer [Abstract]        
Revenue recognized $ 2,381 $ 3,306 $ 6,981 $ 9,544