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Income Taxes - Narrative (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Income Taxes [Line Items]      
Valuation allowance $ 27,906 $ 24,797  
Increase in valuation allowance 3,100 7,500  
Unrecognized tax benefits including interest and penalties 3,100 4,300  
Interest and penalties   200 $ 500
Unrecognized tax benefits that would impact effective tax rate 3,000 4,300 4,300
Deferred tax liability related to state tax liabilities on future distributions 2,100 $ 1,700 $ 1,200
Federal      
Income Taxes [Line Items]      
Valuation allowance 13,300    
State      
Income Taxes [Line Items]      
Net operating losses 37,300    
Valuation allowance 14,400    
Foreign      
Income Taxes [Line Items]      
Net operating losses 500    
Valuation allowance 300    
Research and experimentation | Federal      
Income Taxes [Line Items]      
Income tax credit carryforwards 3,700    
Research and experimentation | State      
Income Taxes [Line Items]      
Income tax credit carryforwards $ 11,300