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Intangible Assets - Estimated Future Amortization Expense for Intangible Assets (Details) - USD ($)
$ in Thousands
Mar. 31, 2021
Dec. 31, 2020
Estimated future amortization expense [Abstract]    
2021 (excluding the three months ended March 31, 2021) $ 579  
2022 692  
2023 692  
2024 692  
2025 280  
Thereafter 807  
Net carrying amount $ 3,742 $ 3,951