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Restructuring (Tables)
 3 Months Ended
Mar. 31, 2020
Restructuring and Related Activities [Abstract]  
Restructuring and Related Costs
The following table summarizes the activity related to the restructuring reserves and expenses for the three months ended March 31, 2020.
Balance as of December 31, 2019
$
9,506

Expenses recorded
7,754

Payments made
(6,647
)
Balance as of March 31, 2020
$
10,613