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Income Taxes - Summary of Income Tax Contingencies (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2019 | Dec. 31, 2018 | Dec. 31, 2017
Reconciliation of Unrecognized Tax Benefits, Excluding Amounts Pertaining to Examined Tax Returns [Roll Forward] |  |  |
Unrecognized tax benefits, opening balance | $ 2,947 | $ 2,749 | $ 2,549
Gross increases (decreases) in tax positions taken in a prior year |  | 35 | 80
Gross decreases in tax positions taken in a prior year | (244) |  |
Gross increases in tax positions taken in the current year | 229 | 586 | 403
Lapse of applicable statute of limitations | (771) | (423) | (283)
Unrecognized tax benefits, ending balance | $ 2,161 | $ 2,947 | $ 2,749

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