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Income Taxes - Unrecognized benefits (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Tax      
Beginning balance $ 431 $ 784 $ 857
Increases related to current-year tax positions 367   0
Decreases related to prior-year tax positions     0
Decreases due to lapse in statute of limitations (431) (353) (73)
Ending balance 367 431 784
Interest      
Beginning balance 0 6 19
Increases related to current-year tax positions 0   3
Decreases related to prior-year tax positions     (4)
Decreases due to lapse in statute of limitations 0 (6) (12)
Ending balance 0 0 6
Penalties      
Beginning balance 0 0 8
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 0
Ending balance 0 0 0
Total      
Beginning balance 431 790 884
Increases related to current-year tax positions 367   3
Decreases related to prior-year tax positions     (12)
Decreases due to lapse in statute of limitations (431) (359) (85)
Ending balance $ 367 $ 431 $ 790