Restructuring Charges (Details) - USD ($) $ in Thousands	9 Months Ended
	Sep. 30, 2020	Sep. 30, 2019
Restructuring Cost and Reserve [Line Items]
Costs incurred and charged to expense	$ 1,097	$ 1,587
Restructuring Reserve [Roll Forward]
Accrued liability beginning balance	284
Costs incurred and charged to expense	965
Cash payments	(998)
Accrued liability ending balance	251
Employee Separation Costs
Restructuring Cost and Reserve [Line Items]
Costs incurred and charged to expense	965	1,050
Restructuring Reserve [Roll Forward]
Accrued liability beginning balance	110
Costs incurred and charged to expense	965
Cash payments	(824)
Accrued liability ending balance	251
Asset Related and Other Costs
Restructuring Cost and Reserve [Line Items]
Costs incurred and charged to expense	132	$ 537
Restructuring Reserve [Roll Forward]
Accrued liability beginning balance	174
Costs incurred and charged to expense	0
Cash payments	(174)
Accrued liability ending balance	$ 0