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Intangible Assets - Schedule of amortization expense relating to intangible assets (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Goodwill and Intangible Assets      
Amortization expense $ 12,168 $ 5,774 $ 4,350