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Income Taxes - Unrecognized benefits (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2018
Dec. 31, 2017
Dec. 31, 2016
Tax      
Beginning balance $ 784 $ 857 $ 1,514
Increases related to current-year tax positions   0 0
Decreases related to prior-year tax positions   0  
Decreases due to lapse in statute of limitations (353) (73) (657)
Ending balance 431 784 857
Interest      
Beginning balance 6 19 104
Increases related to current-year tax positions   3 21
Decreases related to prior-year tax positions   (4)  
Decreases due to lapse in statute of limitations (6) (12) (106)
Ending balance 0 6 19
Penalties      
Beginning balance 0 8 27
Increases related to current-year tax positions   0 0
Decreases related to prior-year tax positions   (8)  
Decreases due to lapse in statute of limitations 0 0 (19)
Ending balance 0 0 8
Total      
Beginning balance 790 884 1,645
Increases related to current-year tax positions   3 21
Decreases related to prior-year tax positions   (12)  
Decreases due to lapse in statute of limitations (359) (85) (782)
Ending balance $ 431 $ 790 $ 884