Restructuring and Reorganization Charges (Details Textual) $ in Thousands	3 Months Ended							12 Months Ended
	Dec. 31, 2019 USD ($)	Sep. 30, 2019 USD ($)	Jun. 30, 2019 USD ($)	Dec. 31, 2018 USD ($)	Sep. 30, 2018 USD ($)	Jun. 30, 2018 USD ($)	Mar. 31, 2018 USD ($)	Dec. 31, 2019 USD ($) Employees	Dec. 31, 2018 USD ($) Employees	Dec. 31, 2017 USD ($) Employees	Dec. 31, 2016 USD ($)
Restructuring Cost And Reserve [Line Items]
Reduced workforce | Employees								70	170	60
Restructuring and reorganization charges	$ 1,600	$ 1,300	$ 1,800	$ 1,600	$ 2,800	$ 3,300	$ 900	$ 4,834	$ 8,661	$ 8,796
Restructuring and reorganization reserve	822			4,336				822	4,336	4,148	$ 3,746
Current Liabilities
Restructuring Cost And Reserve [Line Items]
Restructuring and reorganization reserve	$ 800							800
Termination Benefits Related to Organizational Changes
Restructuring Cost And Reserve [Line Items]
Restructuring and reorganization charges								$ 2,500	6,200	3,700
Closure of Print Facility
Restructuring Cost And Reserve [Line Items]
Restructuring charges and impairment of assets									2,700
Disposition of Business Operations
Restructuring Cost And Reserve [Line Items]
Restructuring and reorganization charges									(2,330)	2,904
Reversal of liability related to previous disposition of a business									2,300
Facilities Abandonment
Restructuring Cost And Reserve [Line Items]
Restructuring and reorganization charges									1,981	2,236
Restructuring and reorganization reserve				$ 2,934					$ 2,934	$ 3,032	$ 1,332