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Restructuring Expenses and Asset Impairments - Restructuring Accruals (Details) - USD ($)
$ in Thousands
3 Months Ended 6 Months Ended
Jun. 30, 2021
Jun. 30, 2021
Restructuring Reserve [Roll Forward]    
Balance at January 1, 2021   $ 3,868
Restructuring expenses   5,138
Payments, utilization and other   (5,375)
Balance at June 30, 2021 $ 3,631 3,631
Asset impairments $ 100 $ 200