Income Taxes - Narrative (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2019	Dec. 31, 2018	Dec. 31, 2017
Significant Change in Unrecognized Tax Benefits is Reasonably Possible [Line Items]
Statutory federal rate	21.00%	21.00%	35.00%
Provisional net tax benefit related to reduction in U.S. corporate tax rate		$ (8,400)
Provisional one-time tax expense resulting from transition tax		10,600
Net tax benefit related to reduction in U.S. corporate tax rate		(71)
U.S. transition tax		(3,271)	$ 10,612
Net GILTI	$ 1,861	347
Foreign withholding tax	638	5,590
Increase (Decrease) in valuation allowance	(345)	567	636
U.S federal net operating loss carryforwards	$ 93,300	86,300
Period to utilize the net operating loss carryforwards	23 years
NOL carryforward used in period	$ 20,600	11,900
Foreign operating loss carryforwards	3,400	5,900
Foreign operating loss carryforward, no expiration	2,400	5,200
Foreign operating loss carryforward, expiring	1,000	761
Unrecognized tax benefits including interest and penalties	2,500	3,300
Unrecognized tax benefits that would impact effective rate	2,200	3,000
Unrecognized tax benefits reduction to non-current deferred income tax assets	230	0
Reduction of uncertain tax benefits related to certain liabilities for unrecognized tax benefits	307
Accrued interest and penalties	366	373
Income tax penalties and interest expense	(7)	$ 69	$ 88
Maximum
Significant Change in Unrecognized Tax Benefits is Reasonably Possible [Line Items]
Estimated decrease in unrecognized tax benefit in next twelve months	$ 650