Goodwill and Intangible Assets - Intangible Assets (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019
Acquired Finite-Lived Intangible Assets [Line Items]
Gross Carrying Amount	$ 52,870	$ 50,906
Accumulated Amortization	(41,943)	(39,094)
Total	10,927	11,812
Technology
Acquired Finite-Lived Intangible Assets [Line Items]
Gross Carrying Amount	30,499	30,413
Accumulated Amortization	(26,818)	(25,187)
Total	$ 3,681	$ 5,226
Weighted Average Amortization Period	5 years 4 months 24 days	5 years 3 months 18 days
Customer relationships
Acquired Finite-Lived Intangible Assets [Line Items]
Gross Carrying Amount	$ 16,981	$ 16,964
Accumulated Amortization	(13,982)	(12,958)
Total	$ 2,999	$ 4,006
Weighted Average Amortization Period	8 years 4 months 24 days	8 years 4 months 24 days
Patents
Acquired Finite-Lived Intangible Assets [Line Items]
Gross Carrying Amount	$ 5,076	$ 3,267
Accumulated Amortization	(908)	(714)
Total	$ 4,168	$ 2,553
Weighted Average Amortization Period	12 years 6 months	12 years 9 months 18 days
Other
Acquired Finite-Lived Intangible Assets [Line Items]
Gross Carrying Amount	$ 314	$ 262
Accumulated Amortization	(235)	(235)
Total	$ 79	$ 27
Weighted Average Amortization Period	2 years 2 months 12 days	2 years 8 months 12 days