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Income Taxes - Unrecognized Tax Benefits (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Reconciliation of the beginning and ending balance of unrecognized tax benefits            
Balance at beginning of year $ 9,127 $ 9,105 $ 6,844      
Increase in unrecognized tax benefits as a result of tax positions taken during a prior period 215   81      
Decrease in unrecognized tax benefits as a result of tax positions taken during a prior period   (132)        
Reductions to unrecognized tax benefits as a result of a lapse of the applicable statute of limitations (334) (543) (511)      
Increases in unrecognized tax benefits as a result of tax positions taken during the current period 791 697 2,691      
Balance at end of year 9,799 9,127 9,105      
Recorded as other long-term liability       $ 409 $ 676 $ 1,109
Recorded as a decrease in deferred tax assets and offsetting valuation allowance       9,390 8,451 7,996
Unrecognized tax benefits $ 9,799 $ 9,127 $ 9,105 $ 9,799 $ 9,127 $ 9,105