Income Taxes - Additional Information (Details) - USD ($)	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Tax Credit Carryforward [Line Items]
Income tax expense	$ 0	$ 0	$ (8,098,000)
Deferred tax assets, operating loss and tax credit carryforwards	13,900,000
Valuation allowance	38,072,000	29,024,000
Unrecognized tax benefits affecting effective tax rate	43,800,000	53,100,000
Interest and penalties associated with unrecognized tax benefits (Operations)	2,100,000	100,000	$ 3,200,000
Interest and penalties associated with unrecognized tax benefits (Balance Sheet)	25,500,000	$ 27,600,000
State and Local Jurisdiction
Tax Credit Carryforward [Line Items]
Deferred tax assets, operating loss and tax credit carryforwards	45,900,000
Net operating loss carryforwards	317,433,000
Valuation allowance	17,700,000
Increase in valuation allowance for deferred income tax asset	8,000,000.0
State and Local Jurisdiction | Wisconsin Research And Development Credit
Tax Credit Carryforward [Line Items]
Net capital loss carryforwards	33,800,000
Foreign Tax Authority
Tax Credit Carryforward [Line Items]
Net operating loss carryforwards	10,000,000.0
Valuation allowance	6,500,000
Operating loss carryforward, increase in valuation allowance	$ 1,000,000.0