Income Taxes - Additional Information (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2019	Dec. 31, 2018	Dec. 31, 2017
Income Tax Contingency [Line Items]
Effective tax rate	22.60%	24.10%	31.50%
Undistributed earnings of foreign subsidiaries	$ 11,700
Deferred tax liability not recognized, amount of unrecognized deferred tax liability, undistributed earnings of foreign subsidiaries	400
Unrecognized tax benefits	4,665	$ 3,165	$ 2,680
Unrecognized tax benefits, interest on income taxes accrued	600	$ 300
Domestic Tax Authority | Internal Revenue Service (IRS)
Income Tax Contingency [Line Items]
Net operating loss carryforwards	1,100
Domestic Tax Authority | Internal Revenue Service (IRS) | Tax Years 2011, 2012 and 2013
Income Tax Contingency [Line Items]
Disallowed research tax credits being litigated	5,700
Domestic Tax Authority | Internal Revenue Service (IRS) | Tax Years 2011 through 2019
Income Tax Contingency [Line Items]
Research tax credits taken or expected to be taken	$ 15,600