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Income Taxes - Income (Loss) from Continuing Operations Before Income Taxes (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Income Tax Disclosure [Abstract]      
United States $ 33,612 $ 419 $ 12,979
Foreign (429) 970 2,729
Income from continuing operations before income taxes $ 33,183 $ 1,389 $ 15,708