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Long-Term Debt and Line-of-Credit - Summary of Principal Payments Due on Outstanding Debt (Details)
$ in Thousands
Sep. 30, 2020
USD ($)
Debt Instrument [Line Items]  
2020 (remaining) $ 250
2021 1,000
2022 1,000
2023 3,313
Total minimum principal payments 5,563
Revolving Credit Facility  
Debt Instrument [Line Items]  
2023 2,833
Total minimum principal payments 2,833
Term Loan  
Debt Instrument [Line Items]  
2020 (remaining) 250
2021 1,000
2022 1,000
2023 480
Total minimum principal payments $ 2,730