Restructuring and Related Activities (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2021	Mar. 31, 2020
Restructuring Reserve [Roll Forward]
Accrual beginning balance	$ 6,343	$ 2,641
Charges	1,900	1,919
Cash Payments	(5,707)	(3,442)
Non-cash Amounts	0	(15)
Accrual ending balance	2,536	1,103
Total cumulative charges incurred to date	27,859
Estimated additional charges to be incurred	1,000
Japan Consolidation Activities
Restructuring Reserve [Roll Forward]
Charges	1,900
Facility Costs
Restructuring Reserve [Roll Forward]
Accrual beginning balance	4,365	2,196
Charges	1,198	1,310
Cash Payments	(3,257)	(2,482)
Non-cash Amounts	1	(12)
Accrual ending balance	2,307	1,012
Total cumulative charges incurred to date	15,376
Estimated additional charges to be incurred	1,000
Employee Separation Costs
Restructuring Reserve [Roll Forward]
Accrual beginning balance	1,759	271
Charges	385	30
Cash Payments	(1,928)	(300)
Non-cash Amounts	(1)	(1)
Accrual ending balance	215	0
Total cumulative charges incurred to date	8,643
Estimated additional charges to be incurred	0
Other Exit Costs
Restructuring Reserve [Roll Forward]
Accrual beginning balance	219	174
Charges	317	579
Cash Payments	(522)	(660)
Non-cash Amounts	0	(2)
Accrual ending balance	14	$ 91
Total cumulative charges incurred to date	3,840
Estimated additional charges to be incurred	$ 0