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Summary of Significant Accounting Policies - Adjustment of Prior Financial Statements for Immaterial Items (Details) $ in Thousands	12 Months Ended		36 Months Ended
	Dec. 31, 2020 USD ($) item	Dec. 31, 2019 USD ($)	Dec. 31, 2019 USD ($)
Adjustment of Prior Period Financial Statements for Immaterial Items
Selling, general and administrative	$ 65,791	$ 66,328
Cost of goods and services sold	$ 10,701	11,220
Revision of 2017 Through 2020 Immaterial Errors
Adjustment of Prior Period Financial Statements for Immaterial Items
Number of immaterial items corrected | item	2
Revision of 2017 Through 2020 Immaterial Errors | Revision of Prior Period Error Correction Adjustment
Adjustment of Prior Period Financial Statements for Immaterial Items
Selling, general and administrative	$ 926	584	$ 1,907
Cost of goods and services sold		$ 249	$ 476

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The number of immaterial items corrected.

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Amount of expense for allocation of cost of tangible and intangible assets over their useful lives directly used in production of good and rendering of service.

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Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 220
-SubTopic 10
-Section S99
-Paragraph 2
-Subparagraph (SX 210.5-03(b)(2))
-URI http://asc.fasb.org/extlink&oid=120395209&loc=SL114868664-224227

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The aggregate total costs related to selling a firm's product and services, as well as all other general and administrative expenses. Direct selling expenses (for example, credit, warranty, and advertising) are expenses that can be directly linked to the sale of specific products. Indirect selling expenses are expenses that cannot be directly linked to the sale of specific products, for example telephone expenses, Internet, and postal charges. General and administrative expenses include salaries of non-sales personnel, rent, utilities, communication, etc.

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Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 220
-SubTopic 10
-Section S99
-Paragraph 2
-Subparagraph (SX 210.5-03.4)
-URI http://asc.fasb.org/extlink&oid=120395209&loc=SL114868664-224227

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