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In 1986, Voorhees earned a B.S. in political science from American University in Washington, D.C. He earned a Masters of Public Administration from George Mason University in 1991. 
- 1986 - 1987: Congressional Intern for Chairman of the U.S. House Armed Services Committee
- 1987 - 1988: Management Analyst, Office of the Secretary of the Army, Washington, D.C.
- 1988 - 1989: Principal Staff Assistant, Office of the Secretary of the Army, Washington, D.C.
- 1989 - 1993: Administrative Aide to member of the Board of County Supervisors, Fairfax County, VA
- 1993 - 1995: Town Manager, Town of Bowling Green, VA
- 1995 - 2000: City Manager, City of King, NC
- 2000 - 2002: Assistant City Manager, City of Wilmington, NC
- 2002 - 2012: Deputy City Manager, City of Durham, NC
- 2012 - 2016: City Manager, City of Fayetteville, NC
- 2016 - 2017: Senior Consultant, Developmental Associates, LLC, NC
- 2017 - present: County Administrator, Powhatan County, VA 
- Web. City manager search narrowed to three candidates, Nolan Stout, Daily Progress, Lee Enterprises, March 5, 2019, retrieved March 6, 2019.
- Web. Packet for March 6, 2019 public interviews of managerial candidates, March 5, 2019, retrieved March 6, 2019.