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Income Taxes - Unrecognized benefits (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Tax    
Beginning balance $ 367 $ 431
Increase related to current-year tax positions   367
Decreases due to lapse in statute of limitations (211) (431)
Ending balance 156 367
Interest    
Beginning balance 0 0
Increase related to current-year tax positions   0
Decreases due to lapse in statute of limitations 0
Ending balance 0 0
Penalties    
Beginning balance 0 0
Increase related to current-year tax positions   0
Decreases due to lapse in statute of limitations 0
Ending balance 0 0
Total    
Beginning balance 367 431
Increase related to current-year tax positions   367
Decreases due to lapse in statute of limitations (211) (431)
Ending balance $ 156 $ 367