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Income Taxes - Income/(loss) before income taxes (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Income Tax Disclosure [Abstract]      
U.S. $ 33,417 $ 37,060 $ (11,212)
Foreign 9,588 7,306 19,997
Income before income tax benefit (expense) $ 43,005 $ 44,366 $ 8,785