Annual report pursuant to Section 13 and 15(d)

Income Taxes - Reconciliation of Unrecognized Tax Benefits (Details)

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Income Taxes - Reconciliation of 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 beginning of year $ 9,980 $ 9,422 $ 8,566
Additions based on tax positions related to current year 1,362 1,087 880
Reductions to tax provision of prior years (12) (529) (24)
Balance at end of year $ 11,330 $ 9,980 $ 9,422