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Stock-Based Compensation - Summary of Stock-Based Compensation Expense (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2019 | Dec. 31, 2018 | Dec. 31, 2017
Share-based Payment Arrangement [Abstract] |  |  |
Stock-based compensation expense | $ 22,232 | $ 23,116 | $ 20,288

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