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Intangible Assets and Goodwill - Estimated annual amortization expense (Details) - USD ($)
$ in Thousands
Dec. 31, 2019
Dec. 31, 2018
Estimated annual amortization expense related to amortizable intangible    
2020 $ 818  
2021 767  
2022 618  
2023 361  
2024 172  
Thereafter 416  
Net intangible assets subject to amortization $ 3,152 $ 3,294