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Debt - ESCO Notes Payable (Details) - USD ($)
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Aug. 16, 2017
Debt Instrument [Line Items]        
Gain on debt retirement $ 2,100,000 $ 0    
ESCO Notes Payable        
Debt Instrument [Line Items]        
Extinguishment of debt, amount     $ 5,800,000  
Payment for retirement of debt 3,800,000      
Gain on debt retirement $ 2,100,000      
Seller's Notes        
Debt Instrument [Line Items]        
Face amount of debt       $ 7,000,000.0
Interest rate (as a percent)       5.00%
Seller's Note Due August 2018        
Debt Instrument [Line Items]        
Face amount of debt       $ 1,200,000
Seller's Note Due February 2019        
Debt Instrument [Line Items]        
Face amount of debt       $ 5,800,000