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Income Taxes - Schedule of Changes in Tax Reserve (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Income Tax Reserve [Roll Forward]      
Beginning Balance $ 887 $ 1,433 $ 1,465
Current year positions 275 0 489
Prior period positions 0 7 (436)
Settlements 0 (314) 0
Lapse of statute of limitations (166) (239) (85)
Ending Balance $ 996 $ 887 $ 1,433