Restructuring and Reorganization Charges (Details Textual) $ in Thousands	3 Months Ended							12 Months Ended
	Dec. 31, 2020 USD ($)	Sep. 30, 2020 USD ($)	Jun. 30, 2020 USD ($)	Mar. 31, 2020 USD ($)	Dec. 31, 2019 USD ($)	Sep. 30, 2019 USD ($)	Jun. 30, 2019 USD ($)	Dec. 31, 2020 USD ($) Employees	Dec. 31, 2019 USD ($) Employees	Dec. 31, 2018 USD ($) Employees	Dec. 31, 2017 USD ($)
Restructuring Cost And Reserve [Line Items]
Reduced workforce | Employees								80	70	170
Restructuring and reorganization charges	$ 1,000	$ 800	$ 2,500	$ 1,000	$ 1,600	$ 1,300	$ 1,800	$ 5,328	$ 4,834	$ 8,661
Restructuring and reorganization reserve	933				$ 822			933	822	4,336	$ 4,148
Current Liabilities
Restructuring Cost And Reserve [Line Items]
Restructuring and reorganization reserve	$ 900							900
Termination Benefits Related to Organizational Changes
Restructuring Cost And Reserve [Line Items]
Restructuring and reorganization charges								$ 4,200	$ 2,500	6,200
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)
Reversal of liability related to previous disposition of a business										$ 2,300