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Restructuring - Reconciliation of Restructuring Liability (Details) - USD ($)
$ in Thousands
9 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Dec. 31, 2020
Restructuring Reserve [Roll Forward]      
Less, short-term restructuring liability $ 0   $ 11
Restructuring liability      
Restructuring Reserve [Roll Forward]      
Balance at December 31, 2020 and 2019 11 $ 38  
Accretion of lease obligations 0 2  
Payments (11) (22)  
Balance at September 30, 2021 and 2020 0 18  
Balance at September 30, 2021 and 2020 0 18 $ 11
Less, short-term restructuring liability 0 18  
Long-term restructuring liability, included in other liabilities $ 0 $ 0