Income Taxes - Additional Information (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2019	Dec. 31, 2018	Dec. 31, 2017
Tax Credit Carryforward [Line Items]
Income tax expense		$ 1,500	$ 53,100
Deferred tax assets, operating loss and tax credit carryforwards	$ 9,600
Valuation allowance	29,024	21,868
Unrecognized tax benefits affecting effective tax rate	53,100	53,700
Interest and penalties associated with unrecognized tax benefits (Operations)	100	3,200	$ 2,800
Interest and penalties associated with unrecognized tax benefits (Balance Sheet)	27,600	$ 27,700
State and Local Jurisdiction
Tax Credit Carryforward [Line Items]
Net operating loss carryforwards	273,419
Deferred tax assets, operating loss and tax credit carryforwards	31,400
Valuation allowance	9,600
Increase in valuation allowance for deferred income tax asset	6,700
State and Local Jurisdiction | Wisconsin Research And Development Credit
Tax Credit Carryforward [Line Items]
Net capital loss carryforwards	18,100
Foreign Tax Authority
Tax Credit Carryforward [Line Items]
Net operating loss carryforwards	13,800
Valuation allowance	9,800
Operating loss carryforward, increase in valuation allowance	$ 400