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Other Assets - Additional Information (Details) - USD ($)
$ in Thousands
3 Months Ended 6 Months Ended
Dec. 31, 2027
Jun. 30, 2021
Jun. 30, 2020
Jun. 30, 2021
Jun. 30, 2020
Dec. 31, 2020
Schedule of Other Assets [Line Items]            
Prepaid expenses, net of current portion   $ 21,271   $ 21,271   $ 22,418
Capital contributions   $ 190 $ 175 $ 262 $ 293  
Minimum            
Schedule of Other Assets [Line Items]            
Ownership percentage   3.00%   3.00%    
Maximum            
Schedule of Other Assets [Line Items]            
Ownership percentage   5.00%   5.00%    
Scenario, Forecast            
Schedule of Other Assets [Line Items]            
Capital contributions $ 1,500          
Jack Welch Management Institute            
Schedule of Other Assets [Line Items]            
Commitment for future services under the perpetual license agreement           $ 25,300
Prepaid expenses, net of current portion   $ 19,900   $ 19,900    
Prepaid expense, amortization period       15 years