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Summary of Significant Accounting Policies - Trade Accounts Receivable (Details) - USD ($) $ in Thousands | Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018
--- | --- | --- | ---
Trade Accounts Receivable |  |  |
Trade accounts receivable | $ 44,305 | $ 39,004 |
Unbilled accounts receivable | 10,576 | 4,223 |
Trade and unbilled accounts receivable | 54,881 | 43,227 |
Less allowance for doubtful accounts | (289) | (395) | $ (211)
Accounts receivable, net | $ 54,592 | $ 42,832 |

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