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Income Taxes - Narrative (Details) - USD ($) | 12 Months Ended
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Dec. 31, 2019 | Dec. 31, 2018 | Dec. 31, 2017
Income Taxes [Line Items] |  |  |
Valuation allowance | $ 24,797,000 | $ 17,261,000 |
Increase in valuation allowance | 7,500,000 | 8,500,000 |
Unrecognized tax benefits including interest and penalties | 4,300,000 | 4,600,000 |
Interest and penalties | 200,000 | 500,000 | $ 500,000
Unrecognized tax benefits that would impact effective tax rate | 4,300,000 | 4,300,000 | 5,300,000
Decrease in unrecognized tax benefits is reasonably possible in next 12 months | 200,000 |  |
Transition tax liability | $ 1,100,000 |  | 2,200,000
Remaining payment period for transition tax liability | 5 years |  |
Federal income tax rate | 21.00% |  |
Provisional amount recorded upon remeasurement of deferred tax assets and liabilities |  |  | 2,300,000
Adjustment to provisional amount recorded upon remeasurement of deferred tax assets and liabilities |  | 300,000 |
GILTI deferred amounts |  |  | $ 0
Deferred tax liability related to state tax liabilities on future distributions | $ 1,700,000 | $ 1,200,000 |
Federal |  |  |
Income Taxes [Line Items] |  |  |
Valuation allowance | 5,800,000 |  |
State |  |  |
Income Taxes [Line Items] |  |  |
Net operating losses | 26,200,000 |  |
Valuation allowance | 1,000,000 |  |
Foreign |  |  |
Income Taxes [Line Items] |  |  |
Net operating losses | 3,300,000 |  |
Valuation allowance | 300,000 |  |
Research & Experimentation | Federal |  |  |
Income Taxes [Line Items] |  |  |
Income tax credit carryforwards | 1,500,000 |  |
Research & Experimentation | State |  |  |
Income Taxes [Line Items] |  |  |
Income tax credit carryforwards | $ 10,200,000 |  |

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