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Restructuring - Reconciliation of Restructuring Liability (Details) - USD ($)
$ in Thousands
3 Months Ended
Mar. 31, 2021
Mar. 31, 2020
Dec. 31, 2020
Restructuring Reserve [Roll Forward]      
Less, short-term restructuring liability $ 5   $ 11
2017 Restructuring Plan | Restructuring liability      
Restructuring Reserve [Roll Forward]      
Beginning balance 11 $ 38  
Accretion of lease obligations 0 1  
Payments (6) (8)  
Ending balance 5 31  
Less, short-term restructuring liability 5 24  
Long-term restructuring liability, included in other liabilities $ 0 $ 7