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Borrowing Arrangements (Tables)
 12 Months Ended
Dec. 31, 2020
Debt Disclosure [Abstract]  
Schedule of Future Principal Payments
The following table sets forth future principal payments:
(in thousands)
YearPrincipal payments
2021$2,031 
20222,109 
20232,226 
20242,302 
20252,449 
Thereafter84,996