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Fair Value Measurements - Changes in Level 3 inputs (Details) - USD ($)
$ in Thousands
3 Months Ended 9 Months Ended 12 Months Ended
Sep. 30, 2020
Mar. 31, 2020
Sep. 30, 2019
Sep. 30, 2020
Sep. 30, 2019
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Defined Benefit Plan, Change in Fair Value of Plan Assets, Level 3 Reconciliation [Roll Forward]                
Fair value at January 1,   $ 16,169   $ 16,169 $ 15,852 $ 16,169 $ 15,852 $ 27,756
Interest expense accrued   150       112 150 364
Principal and interest expense paid             0 (13,328)
Increase in fair value             167 1,060
Fair value at December 31, $ 16,327     16,327     16,169 15,852
Fair Value, Liabilities Measured on Recurring Basis, Unobservable Input Reconciliation [Line Items]                
Fair Value, Measurement with Unobservable Inputs Reconciliation, Recurring Basis, Liability Value 16,327 16,169   16,327 15,852 16,169 15,852 15,852
Interest expense accrued   150       112 $ 150 $ 364
Fair Value, Measurement with Unobservable Inputs Reconciliation, Recurring Basis, Liability, Gain (Loss) Included in Earnings 709 $ 167 $ 17 (46) $ (101) $ (46)    
Level 3 | Fair Value, Recurring                
Defined Benefit Plan, Change in Fair Value of Plan Assets, Level 3 Reconciliation [Roll Forward]                
Fair value at December 31, 16,327     16,327        
Fair Value, Liabilities Measured on Recurring Basis, Unobservable Input Reconciliation [Line Items]                
Fair Value, Measurement with Unobservable Inputs Reconciliation, Recurring Basis, Liability Value $ 16,327     $ 16,327