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Fair Value Measurement - Change in Fair Value of Level 3 Liability (Details) - Deferred payments - USD ($)
$ in Thousands
9 Months Ended
Sep. 30, 2020
Sep. 30, 2019
Fair Value, Liabilities Measured on Recurring Basis, Unobservable Input Reconciliation, Calculation [Roll Forward]    
Balance as of the beginning of period $ 3,257 $ 4,120
Amounts paid (1,628) (1,579)
Other adjustments to fair value 374 1,017
Balance at end of period $ 2,003 $ 3,558