Income Taxes - Additional Information (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Tax Credit Carryforward [Line Items]
Deferred tax assets, operating loss and tax credit carryforwards	$ 8,100
Valuation allowance	33,596	$ 38,072
Unrecognized tax benefits affecting effective tax rate	38,400	43,800
Interest and penalties associated with unrecognized tax benefits (Operations)	2,600	2,100	$ 100
Interest and penalties associated with unrecognized tax benefits (Balance Sheet)	22,900	25,500
State and Local Jurisdiction
Tax Credit Carryforward [Line Items]
Deferred tax assets, operating loss and tax credit carryforwards	48,900
Net operating loss carryforwards	310,819	$ 317,433
Valuation allowance	18,200
Increase in valuation allowance for deferred income tax asset	600
State and Local Jurisdiction | Wisconsin Research And Development Credit
Tax Credit Carryforward [Line Items]
Net capital loss carryforwards	38,100
Foreign Tax Authority
Tax Credit Carryforward [Line Items]
Net capital loss carryforwards	4,000
Net operating loss carryforwards	11,500
Valuation allowance	7,200
Operating loss carryforward, increase in valuation allowance	$ (5,100)