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Income Taxes - Components of Income (Loss) Before Income Taxes (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Income Tax Disclosure [Abstract]      
United States $ (24,783) $ (18,619) $ 3,826
Foreign 572 424 475
(Loss) income before income taxes $ (24,211) $ (18,195) $ 4,301