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Incentive Stock Plans - Additional Information on Stock Options Granted to Employees (Details) - Stock Options - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Intrinsic value of options exercised $ 0 $ 108 $ 1
Fair value of options vested $ 0 $ 0 $ 210