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Income Taxes - Income Tax Expenses (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Current expense (benefit)      
United States $ 1,121 $ 1,795 $ (906)
Foreign 31,005 29,896 28,109
Current income tax expense 32,126 31,691 27,203
Deferred expense (benefit)      
United States 9,539 16,222 21,189
Foreign (1,065) (681) 83
Deferred income tax expense 8,474 15,541 21,272
Total income tax expense $ 40,600 $ 47,232 $ 48,475