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Reinsurance - Summary of Reinsurance Agreements (Details) - USD ($) $ in Thousands | 3 Months Ended | 12 Months Ended
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Dec. 31, 2019 | Sep. 30, 2019 | Jun. 30, 2019 | Mar. 31, 2019 | Dec. 31, 2018 | Sep. 30, 2018 | Jun. 30, 2018 | Mar. 31, 2018 | Dec. 31, 2019 | Dec. 31, 2018 | Dec. 31, 2017
Premiums Earned, Net [Abstract] |  |  |  |  |  |  |  |  |  |  |
Premiums earned, direct |  |  |  |  |  |  |  |  | $ 1,155,240 | $ 1,084,748 | $ 1,059,973
Premiums earned, assumed |  |  |  |  |  |  |  |  | 5,085 | 1,805 | 509
Premiums earned, ceded |  |  |  |  |  |  |  |  | (129,337) | (111,391) | (125,735)
Net premiums earned | $ 266,267 | $ 267,857 | $ 247,102 | $ 249,762 | $ 245,665 | $ 250,426 | $ 246,964 | $ 232,107 | 1,030,988 | 975,162 | 934,747
Policyholder Benefits and Claims Incurred, Net [Abstract] |  |  |  |  |  |  |  |  |  |  |
Losses incurred, direct |  |  |  |  |  |  |  |  | 130,100 | 43,060 | 74,727
Losses incurred, assumed |  |  |  |  |  |  |  |  | (125) | 331 | 183
Losses incurred, ceded |  |  |  |  |  |  |  |  | (11,400) | (6,829) | (21,201)
Net losses incurred | $ 23,690 | $ 33,985 | $ 21,836 | $ 39,064 | $ 27,685 | $ (1,518) | $ (13,455) | $ 23,850 | $ 118,575 | $ 36,562 | $ 53,709

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