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Employee Benefit Plans - Schedule of Amounts Recognized in Balance Sheet (Details) - USD ($)
$ in Thousands
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Amounts Recognized in the Balance Sheet      
Current liabilities $ 2,031 $ 1,725 $ 1,865
Non-current liabilities 30,713 32,713 27,912
Amounts recognized in the balance sheet $ 32,744 $ 34,438 $ 29,777