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Intangible Assets - Amortization of Intangible Assets (Details) - USD ($)
$ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Sep. 30, 2021
Sep. 30, 2020
Intangible Assets        
Amortization of intangible assets $ 582 $ 446 $ 1,636 $ 1,220