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Income Taxes - Components of income before income taxes (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Components of income before income taxes:      
Domestic operations $ 70,632 $ 54,003 $ 61,158
Foreign operations 94,533 96,301 90,518
Income before income taxes $ 165,165 $ 150,304 $ 151,676