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Income Taxes - Reconciliation of unrecognized tax benefits (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Reconciliation of the beginning and ending unrecognized tax benefit      
Balance at beginning of year $ 3,264 $ 3,163 $ 3,892
Additions based on tax positions related to the current year 481 470 441
Decreases resulting from a lapse in the applicable statute of limitations (375) (369) (351)
Remeasurement due to enactment of federal tax reform 0 0 (819)
Balance at end of year $ 3,370 $ 3,264 $ 3,163