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Stock-Based Compensation - Summary of Compensation Expense, Net of Forfeitures (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Share-based Payment Arrangement [Abstract]      
Compensation expense $ 18,462 $ 16,588 $ 15,073
Income tax benefit $ 3,511 $ 3,125 $ 2,805