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Income Taxes (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Income before taxes      
Domestic $ (43,029) $ (81,316) $ (63,829)
Foreign 3,398 (5,700) (6,799)
Loss before income taxes $ (39,631) $ (87,016) $ (70,628)