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Income Taxes (Details Textual) - USD ($) $ in Thousands | 12 Months Ended |  |  |
--- | --- | --- | --- | ---
Dec. 31, 2019 | Dec. 31, 2018 | Dec. 31, 2017 | Jan. 01, 2019 | Jan. 01, 2018 | Jan. 01, 2017
Tax Credit Carryforward [Line Items] |  |  |  |  |  |
General business credit | $ 9 |  |  |  |  |
Foreign tax credit carry-forwards | 2,345 | $ 2,360 |  |  |  |
Cumulative effect adjustment |  |  |  | $ 1,680 | $ (2,748) |
Non-current deferred income tax asset | 45 | 226 |  |  |  |
Valuation allowance, deferred tax asset | 308 |  |  |  |  |
Interest and penalities | 11 | 16 |  |  |  |
Non-current income taxes payable | 147 | 136 |  |  |  |
Reasonably possible decrease in unrecognized tax benefit | 32 |  |  |  |  |
Reduction to deferred tax assets and corresponding valuation allowance related to 2017 Tax Act | 484 | $ 484 | $ 1,780 |  |  |
Net tax benefit related to estimate of the provisions of the 2017 Tax Act |  |  | $ 54 |  |  |
Reduction to deferred tax assets and corresponding valuation allowance related to 2017 Tax Act | 2,264 |  |  |  |  |
Net tax benefit related to 2017 Tax Act | 54 |  |  |  |  |
Transitional toll tax related to 2017 Tax Act | 1,209 |  |  |  |  |
Accounting Standards Update 2016-09 | Deferred Tax Assets, Tax Credit Carryforwards And Operating Loss Carryforwards |  |  |  |  |  |
Tax Credit Carryforward [Line Items] |  |  |  |  |  |
Cumulative effect adjustment |  |  |  |  |  | $ 1,117
Difference between Revenue Guidance in Effect before and after Topic 606 | Accounting Standards Update 2014-09 |  |  |  |  |  |
Tax Credit Carryforward [Line Items] |  |  |  |  |  |
Non-current deferred income tax asset |  |  |  |  | $ 202 |
State and Local Jurisdiction |  |  |  |  |  |
Tax Credit Carryforward [Line Items] |  |  |  |  |  |
Unrecognized excess tax benefit | 138 |  |  |  |  |
Research Tax Credit Carryforward | Internal Revenue Service (IRS) |  |  |  |  |  |
Tax Credit Carryforward [Line Items] |  |  |  |  |  |
Unrecognized excess tax benefit | 5,234 |  |  |  |  |
Research Tax Credit Carryforward | State and Local Jurisdiction |  |  |  |  |  |
Tax Credit Carryforward [Line Items] |  |  |  |  |  |
Unrecognized excess tax benefit | $ 3,844 |  |  |  |  |

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