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Summary of Significant Accounting Policies - Cash and Cash Equivalents (Details) - USD ($)
$ in Thousands
Mar. 31, 2021
Dec. 31, 2020
Mar. 31, 2020
Dec. 31, 2019
Restricted cash        
Cash and cash equivalents $ 96,625 $ 96,596    
Restricted cash 9,416 9,566    
cash, cash equivalents and restricted cash in the condensed consolidated statements of cash flows $ 106,041 $ 106,162 $ 62,940 $ 71,756