Income Taxes - Income Tax Expense (Benefit) (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2019	Dec. 31, 2018	Dec. 31, 2017
Current:
Federal	$ 0	$ 0	$ (102)
State	53	81	102
Foreign	172	260	237
Total current	225	341	237
Deferred:
Federal	(4,133)	(27)	(699)
State	(819)	(19)	0
Foreign	2	(11)	3
Total deferred	(4,950)	(57)	(696)
Total:
Federal	(4,133)	(27)	(801)
State	(766)	62	102
Foreign	174	249	240
Income tax expense (benefit)	$ (4,725)	$ 284	$ (459)