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Goodwill and Intangible Assets - Schedule of Intangible Assets (Details) - USD ($)
$ in Thousands
Sep. 30, 2020
Dec. 31, 2019
Goodwill and Intangible Assets Disclosure [Abstract]    
Intangible assets, gross $ 30,866 $ 32,126
Accumulated amortization of intangible assets (18,735) (16,412)
Intangible assets, net $ 12,131 $ 15,714