Income Taxes (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2021	Sep. 30, 2020	Sep. 30, 2021	Sep. 30, 2020	Dec. 31, 2020
Tax Credit [Line Items]
Unrecognized tax benefits	$ 10,000		$ 10,000
Unrecognized tax benefits, interest on income taxes accrued	$ 1,300		$ 1,300
Effective tax rate	28.10%	27.60%	25.30%	24.20%
Deferred income taxes	$ 16,978		$ 16,978		$ 20,911
Unremitted earnings of foreign subsidiaries	17,500		17,500
Unrecognized deferred tax liability on unremitted earnings of foreign subsidiaries	1,200		1,200
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 March 2021 | Domestic tax authority
Tax Credit [Line Items]
Research tax credits	$ 24,800		$ 24,800