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Income Taxes - Schedule of Changes in Tax Reserve (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Income Tax Reserve [Roll Forward]      
Beginning Balance $ 996 $ 887 $ 1,433
Current year positions 581 275 0
Prior period positions 0 0 7
Settlements 0 0 (314)
Lapse of statute of limitations (170) (166) (239)
Ending Balance $ 1,407 $ 996 $ 887