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Summary of Significant Accounting Policies - Revenue Recognition (Details) - USD ($) $ in Thousands | 12 Months Ended |  |
--- | --- | --- | ---
Dec. 31, 2021 | Dec. 31, 2020 | Jan. 01, 2019
Revenue Recognition |  |  |
Retained earnings | $ 143,173 | $ 173,731 |
ASC 606 |  |  |
Revenue Recognition |  |  |
Retained earnings |  |  | $ 11,900
Minimum [Member] |  |  |
Revenue Recognition |  |  |
License Term | 1 year |  |
Maximum [Member] |  |  |
Revenue Recognition |  |  |
License Term | 5 years |  |

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