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Income Taxes (Tables)
9 Months Ended
Sep. 30, 2021
Income Tax Disclosure [Abstract]  
Schedule of components of income (loss) before income taxes
   Three Months Ended
September 30,
   Nine Months Ended
September 30,
 
(in thousands)  2021   2020   2021   2020 
United States  $29,860    (11,370)   (11,435)   (20,724)
Foreign   (985)   1,075    (2,941)   669 
Total loss before income taxes  $28,875   $(10,295)  $(14,376)  $(20,055)