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Goodwill and Intangible Assets - Future Amortization Expense of Finite-lived Intangible Assets (Details) - USD ($)
$ in Thousands
Dec. 31, 2019
Dec. 31, 2018
Goodwill and Intangible Assets Disclosure [Abstract]    
2020 $ 2,069  
2021 1,521  
2022 1,239  
2023 389  
2024 37  
Net intangible assets, end of year $ 5,255 $ 7,895