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Condensed Consolidated Statements of Comprehensive Income (unaudited) (Parenthetical) - USD ($)
$ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Sep. 30, 2021
Sep. 30, 2020
Statement of Comprehensive Income [Abstract]        
Tax benefit (expense) on components of other comprehensive income $ 182 $ 0 $ (2,166) $ 0