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Income Taxes - Unrecognized Tax Benefits (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Reconciliation of Unrecognized Tax Benefits, Excluding Amounts Pertaining to Examined Tax Returns [Roll Forward]      
Balance at January 1 $ 324 $ 324 $ 324
Additions based on tax positions related to the current year 314 0 0
Additions for tax positions of prior years 1,675 0 0
Lapse of statute of limitations (389) 0 0
Balance at December 31 $ 1,924 $ 324 $ 324