Costs Associated with Exit and Restructuring Activities - Restructuring Reserve Activity (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Restructuring And Related Activities [Abstract]
Restructuring liability at January 1, 2020	$ 1,993
Restructuring charges	1,830	$ 7,448	$ 5,062
Cost paid	(1,823)
Other activities	(637)
Restructuring liability at December 31, 2020	$ 1,363	$ 1,993