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Treasury Stock - Repurchased Shares of Common Stock (Details) - USD ($) shares in Thousands, $ in Thousands | 12 Months Ended
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Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018
Equity [Abstract] |  |  |
Shares repurchased (in shares) | 444 | 58 | 413
Cost of shares repurchased | $ 17,678 | $ 1,928 | $ 13,824

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