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Income Taxes - Schedule of unrecognized tax benefits (Details)
$ in Thousands
12 Months Ended
Dec. 31, 2019
USD ($)
Reconciliation of Unrecognized Tax Benefits, Excluding Amounts Pertaining to Examined Tax Returns [Roll Forward]  
Balance at December 31, 2018 $ 2,239
Decreases related to prior year tax positions (285)
Increases related to prior year tax positions 92
Decreases related to current year tax positions 0
Increases related to current year tax positions 517
Balance at December 31, 2019 $ 2,563