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Income Taxes - 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 January 1 $ 58,819 $ 62,288 $ 61,649
Additions based on tax positions related to the current year 1,422 3,885 3,971
Reductions due to lapse of applicable statutes of limitation (11,323) (7,354) (3,332)
Gross balance at December 31 48,918 58,819 62,288
Interest and penalties 4,772 4,594 5,860
Balance at December 31 $ 53,690 $ 63,413 $ 68,148