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Debt and Other Long-term Liabilities - Xcel Term Loan Remaining Principal Payments (Details) - USD ($)
$ in Thousands
Dec. 31, 2020
Dec. 31, 2019
Feb. 10, 2019
Debt      
Total $ 16,750 $ 19,000  
Xcel Term Loan      
Debt      
2021 2,800    
2022 8,950    
2023 5,000    
Total $ 16,750   $ 14,500