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Income Taxes - Summary of Unrecognized Tax Benefits (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Reconciliation of Unrecognized Tax Benefits      
Balance $ 29,387 $ 25,395 $ 1,301
Additions relating to 2017   269 416
Additions relating to prior years   4,425 24,297
Reductions of exposures relating to prior years 26,992 702 619
Lapse of statute of limitations (33)    
Balance $ 2,362 $ 29,387 $ 25,395