Income Taxes - Tax Rate Reconciliation (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2019	Dec. 31, 2018	Dec. 31, 2017
Income Tax Disclosure [Abstract]
Tax computed at federal statutory rate	$ (1,347)	$ 3,683	$ 2,276
State tax, net of federal tax benefit	(133)	27	(102)
Permanent items	(1,493)	545	1,078
Stock compensation	(1,241)	(497)	0
Foreign dividends and unremitted earnings	(352)	159	796
Foreign rate differential	(308)	(347)	(1,897)
Rate change due to tax reform	125	2,819	17,176
Federal credits	(611)	(619)	(302)
Tax contingencies, net of reversals	1,888	2,140	592
Other	(351)	(1,040)	109
Valuation allowance	9,942	(3,270)	(14,868)
Income tax expense	$ 6,119	$ 3,600	$ 4,858