Income Taxes (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2020	Sep. 30, 2019	Sep. 30, 2020	Sep. 30, 2019	Dec. 31, 2019
Tax Credit [Line Items]
Unrecognized tax benefits	$ 6,700		$ 6,700
Unrecognized tax benefits, interest on income taxes accrued	$ 900		$ 900
Effective tax rate	27.60%	29.70%	24.20%	25.90%
Deferred income taxes	$ 17,530		$ 17,530		$ 11,108
Unremitted earnings of foreign subsidiaries	13,500		13,500
Unrecognized deferred tax liability on unremitted earnings of foreign subsidiaries	700		700
Internal Revenue Service (IRS) | Tax years 2011 through 2015 | Domestic tax authority
Tax Credit [Line Items]
Disallowed research tax credits being litigated	5,700		5,700
Internal Revenue Service (IRS) | Tax years 2011 through 2019 | Domestic tax authority
Tax Credit [Line Items]
Research tax credits	$ 19,100		$ 19,100