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Income Taxes - Summary of Components of Pretax Income (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Components of pre-tax income:      
Domestic $ 30,960 $ 190,291 $ 199,685
Foreign 168,678 208,122 177,928
Income from continuing operations before income taxes $ 199,638 $ 398,413 $ 377,613