Consolidated Balance Sheets (Parenthetical)	Dec. 31, 2020 € / shares shares	Dec. 31, 2020 $ / shares shares	Dec. 31, 2019 € / shares shares	Dec. 31, 2019 $ / shares shares
Statement of Financial Position [Abstract]
Euro deferred shares, nominal value (in euros per share) | € / shares	€ 22		€ 22
Euro deferred shares, number of shares authorized (in shares)	10,000	10,000	10,000	10,000
Euro deferred shares, number of issued shares (in shares)	0	0	0	0
Euro deferred shares, number of outstanding shares (in shares)	0	0	0	0
Ordinary shares, par value (in dollars per share) | $ / shares		$ 0.01		$ 0.01
Ordinary shares, number of authorized shares (in shares)	100,000,000	100,000,000	100,000,000	100,000,000
Ordinary shares, number of issued shares (in shares)	39,921,413	39,921,413	39,898,561	39,898,561
Ordinary shares, number of outstanding shares (in shares)	39,921,413	39,921,413	39,898,561	39,898,561