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Summary of Significant Accounting Policies - New Accounting Pronouncements (Details) - USD ($) $ in Thousands	Dec. 31, 2020	Jan. 01, 2020	Dec. 31, 2019
Adoption of new accounting pronouncements
Receivables, inclusive of trade and unbilled	$ 57,537		$ 62,405
Retained earnings	$ 173,731		179,440
Adjustment
Adoption of new accounting pronouncements
Retained earnings			$ (1,727)
ASU 2016-16 | Adjustment
Adoption of new accounting pronouncements
Receivables, inclusive of trade and unbilled		$ (300)
Retained earnings		$ (300)

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