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Income Taxes - Uncertain Tax Positions (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Uncertain tax positions      
Beginning balance $ 522 $ 499 $ 517
Additions (subtractions) based on tax positions related to the current year 0 0 (35)
Additions (subtractions) based on tax positions related to the prior year (257) 0 0
Interest and penalties 14 23 17
Statute of limitations lapses 0 0 0
Ending balance $ 279 $ 522 $ 499