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Revenue from Contracts with Customers (Details)
3 Months Ended 6 Months Ended
Jun. 30, 2021
Dec. 31, 2020
Jun. 30, 2020
Jun. 30, 2021
Jun. 30, 2020
Revenue from Contract with Customer [Abstract]          
Segment Reporting, Disclosure of Major Customers 20   17 20 17
Credit Concentration Risk [Member] | Accounts Receivable | U.S. government agencies          
Revenue from Contract with Customer [Abstract]          
Concentration Risk, Percentage   13.00%   16.00%  
Concentration Risk [Line Items]          
Concentration Risk, Percentage   13.00%   16.00%