Despite two decades of tremendous experimental and theoretical progress, the riddle of the accelerated expansion of the Universe remains to be solved. On the experimental side, our understanding of the possibilities and limitations of the major dark energy probes has evolved; here we summarize the major probes and their crucial challenges. On the theoretical side, the taxonomy of explanations for the accelerated expansion rate is better understood, providing clear guidance to the relevant observables. We argue that: i) improving statistical precision and systematic control by taking more data, supporting research efforts to address crucial challenges for each probe, using complementary methods, and relying on cross-correlations is well motivated; ii) blinding of analyses is difficult but ever more important; iii) studies of dark energy and modified gravity are related; and iv) it is crucial that R&D for a vibrant dark energy program in the 2030s be started now by supporting studies and technical R&D that will allow embryonic proposals to mature. Understanding dark energy, arguably the biggest unsolved mystery in both fundamental particle physics and cosmology, will remain one of the focal points of cosmology in the forthcoming decade.