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Employee Benefit Plan (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
401(k) Defined Contribution Plan [Member]      
401(k) Defined Contribution Plan [Abstract]      
Maximum percentage of compensation that can be deferred 100.00%    
Minimum age to make contributions 18 years    
Requisite service period 1 day    
Percent of employees' base pay matched by employer 4.00% 4.00% 4.00%
Vesting period for Company's matching contributions 2 years    
Compensation expense $ 4.4 $ 3.7 $ 3.6
Additional discretionary contribution by employer, maximum percentage of employees' base pay 10.00%    
Additional discretionary contribution by employer, annual vesting percentage 20.00%    
Vesting period for Company's additional discretionary contributions 5 years    
Defined Benefit Pension Plan [Member] | Japan [Member]      
Defined Benefit Pension Plan [Abstract]      
Accrued pension liability $ 3.0 3.5 3.0
Pension expense $ 0.9 $ 0.8 $ 0.8