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Income Taxes (Details) - USD ($)
$ in Thousands
9 Months Ended 12 Months Ended
Sep. 30, 2020
Sep. 30, 2019
Dec. 31, 2019
Income Tax Disclosure [Abstract]      
Reversal of uncertain tax positions $ 10 $ 31  
Liability for uncertain tax positions 1,601   $ 1,554
Reduction to deferred tax assets 1,254   $ 1,100
Estimated decrease in total gross unrecognized tax benefits as a result of resolutions of global tax examinations and expiration of applicable statutes of limitations, including interest and penalties $ 79