Income Taxes - Reconciliation of Beginning and Ending Balance 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, Excluding Amounts Pertaining to Examined Tax Returns [Roll Forward]
Balance at January 1	$ 5,412	$ 3,807	$ 5,180
Additions based on tax positions related to the current year	1,283	1,401	1,145
Reductions based on tax positions related to prior years	(498)
Additions based on tax positions related to prior years		204	0
Reductions based on settlements of tax positions related to prior years	0	0	(439)
Reductions as a result of a lapse of applicable statute of limitations	(405)	0	0
2017 Tax Act federal tax rate change	0	0	(1,859)
Other	0	0	(220)
Balance at December 31	$ 5,792	$ 5,412	$ 3,807