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Schedule II Valuation and Qualifying Accounts (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
SEC Schedule, 12-09, Movement in Valuation Allowances and Reserves [Roll Forward]      
Balance at beginning of year $ 5,709 $ 6,469 $ 6,344
Charged to expense 10,978 6,542 5,690
Write-offs, net of recoveries 11,590 7,302 5,565
Balance at end of year $ 5,097 $ 5,709 $ 6,469