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Fair Value Measurements - Schedule of Estimated Fair Values of Financial Assets and Liabilities (Details) - USD ($)
$ in Thousands
Dec. 31, 2021
Dec. 31, 2020
Reported Value Measurement    
Fair Value Balance Sheet Grouping Financial Statement Captions [Line Items]    
Cash, cash equivalents and restricted cash $ 41,220 $ 36,018
Long-term debt, including current portion 364,364 472,887
Estimate of Fair Value Measurement | Fair Value, Inputs, Level 1    
Fair Value Balance Sheet Grouping Financial Statement Captions [Line Items]    
Cash, cash equivalents and restricted cash 41,220 36,018
Estimate of Fair Value Measurement | Fair Value, Inputs, Level 2    
Fair Value Balance Sheet Grouping Financial Statement Captions [Line Items]    
Long-term debt, including current portion $ 372,992 $ 470,561