Annual report pursuant to Section 13 and 15(d)

Income Taxes - Summary of Changes in Liability Related to Unrecognized Tax Benefits (Details)

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Income Taxes - Summary of Changes in Liability Related to Unrecognized Tax Benefits (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Dec. 31, 2016
Income Tax Disclosure [Abstract]        
Unrecognized tax benefit liability, Beginning Balance $ 4,901 $ 4,645 $ 4,357  
New positions 0 0 653  
Prior period positions:        
Increases 1,795 7 491  
Decreases (2,697) (199) (539)  
Increases from current period positions 582 714 692  
Unrecognized Tax Benefits, Decrease Resulting from Settlements with Taxing Authorities 653 0 0  
Lapse of statute of limitations (8) (69) (781)  
Other (81) (197) (228)  
Unrecognized tax benefit liability, Ending Balance 3,839 4,901 4,645  
Accrued interest and penalties 500 600 600 $ 800
State        
Schedule Of Unrecognized Tax Benefits [Line Items]        
Net operating losses $ 0 $ 0 $ 100