Income Taxes - Schedule of Unrecognized Tax Benefits (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2019	Dec. 31, 2018	Dec. 31, 2017
Reconciliation of Unrecognized Tax Benefits [Roll Forward]
Balance at beginning of year	$ 1,301	$ 1,244	$ 1,180
Additions based on tax positions related to the current year	401	367	331
Additions for tax positions of prior years	62	50	41
Settlements or lapse of statute of limitations	(267)	(360)	(308)
Balance at end of year	$ 1,497	$ 1,301	$ 1,244