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Income Taxes - Reconciliation of Unrecognized Tax Benefits (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Reconciliation of Unrecognized Tax Benefits, Excluding Amounts Pertaining to Examined Tax Returns [Roll Forward]    
Unrecognized tax benefits, beginning balance $ 4,839 $ 8,234
Additions for tax positions taken during prior periods 543 399
Additions for tax positions taken during current period including amended prior years 409 360
Reductions relating to settlements with taxing authorities 0 (2,227)
Reductions related to the expiration of statutes of limitations (1,542) (1,927)
Unrecognized tax benefits, ending balance $ 4,249 $ 4,839