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Share-based Compensation - Summary of Share-based Compensation Expense (Details) - USD ($) $ in Thousands | 3 Months Ended | 6 Months Ended
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Jun. 30, 2020 | Jun. 30, 2019 | Jun. 30, 2020 | Jun. 30, 2019
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |
Total non-cash stock compensation | $ 4,621 | $ 4,854 | $ 6,605 | $ 8,004
Continuing operations |  |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |
Total non-cash stock compensation | 4,615 | 4,748 | 6,596 | 7,735
Continuing operations | Stock options, net of estimated forfeitures |  |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |
Total non-cash stock compensation | 492 | 1,340 | 931 | 2,163
Continuing operations | Restricted stock awards |  |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |
Total non-cash stock compensation | 4,123 | 3,408 | 5,665 | 5,572
Discontinued operations |  |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |
Total non-cash stock compensation | $ 6 | $ 106 | $ 9 | $ 269

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