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International Retirement Plan (Tables)
12 Months Ended
Dec. 31, 2019
Retirement Benefits [Abstract]  
Reconciliation of Changes in Projected Benefit Obligation The following table provides a reconciliation of the changes in the projected benefit obligation for the years ended December 31, 2019 and 2018:
(in thousands)20192018
Reconciliation of benefit obligations:
Obligations as of January 1$8,658  $8,434  
Service cost166  155  
Interest cost151  148  
Actuarial loss (gain) 1,815  453  
Benefit payments(139) (145) 
Effect of foreign currency exchange rate changes(154) (387) 
Benefit obligations as of December 3110,497  8,658  
Fair value of assets as of December 31 a
3,343  3,224  
Funded status as of December 31, net of tax benefit$(7,154) $(5,434) 
Summary of Amounts Recognized in Consolidated Balance Sheets
We recognized the following amounts in the consolidated balance sheets at December 31, 2019 and 2018:
(in thousands)20192018
Other assets$3,343  $3,224  
Accrued liabilities(140) (140) 
Other liabilities(10,357) (8,518) 
Net liability$(7,154) $(5,434) 
Schedule of Accumulated and Projected Benefit Obligations
The following projected benefit obligation and accumulated benefit obligation were estimated as of December 31, 2019 and 2018:
(in thousands)20192018
Projected benefit obligation$10,497  $8,658  
Accumulated benefit obligation$9,351  $7,587  

The following table shows the components of net periodic benefit costs and the amounts recognized in “Accumulated other comprehensive income (loss)” as of December 31, 2019, 2018 and 2017:
໿
(in thousands)201920182017
Net periodic benefit cost:
Service cost$166  $155  $184  
Interest cost151  148  131  
Amortization of actuarial loss200  177  244  
Total net periodic pension cost517  480  559  
Other changes in plan assets and benefit obligations recognized in other comprehensive income:
Net loss (gain) 1,815  453  (558) 
Amortization of prior years' unrecognized loss(200) (177) (244) 
Tax (benefit) provision(555) (88) 247  
Total recognized as accumulated other comprehensive income (loss)1,060  188  (555) 
Total expense recognized in net periodic benefit cost and other comprehensive income$1,577  $668  $ 
Assumptions Used to Determine Benefit Obligations
The following assumptions are used to determine benefit obligations as of as of December 31, 2019 and 2018:
20192018
Discount rate0.8%  1.8%  
Rate of compensation3.0%  3.5%  
Summary of Estimated Future Benefit Payments
The following benefit payments, including expected future service cost, are expected to be paid:
(in thousands) 
Estimated future benefit payments: 
2020$168  
2021175  
2022181  
2023185  
2024187  
2025-20291,277