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Income Taxes - Earnings Before Income Taxes by Geographical Area (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Income Taxes      
Domestic $ (20,597) $ 22,325 $ 29,088
Foreign 87,791 150,051 169,103
Income from continuing operations, before income taxes $ 67,194 $ 172,376 $ 198,191