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Restructuring (Tables)
12 Months Ended
Dec. 31, 2020
Restructuring and Related Activities [Abstract]  
Changes in restructuring liability Changes to this liability during the years ended December 31, 2020 were as follows (in thousands):
Liability balance as of January 1, 2018$— 
Expenses6,055 
Cash distributions(448)
Liability balance as of December 31, 20185,607 
Expenses8,543 
Cash distributions(10,589)
Liability balance as of December 31, 20193,561 
Expenses— 
Cash distributions(3,561)
Liability balance as of December 31, 2020$—