Income Taxes Effective tax rate (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Effective Income Tax Rate Reconciliation, Percent [Abstract]
Income Tax Reconciliation, Income Tax Expense (Benefit), at Federal Statutory Income Tax Rate	$ 20,474	$ 24,088	$ 4,699
Income Tax Reconciliation, State and Local Income Taxes	2,099	1,269	927
Income Tax Reconciliation, Tax Credits	(3,269)	(2,896)	(4,961)
GILTItaxexpense	(2,555)	6,118	2,363
Income Tax Reconciliation, Foreign Income Tax Rate Differential	(3,888)	(5,939)	(2,944)
Effective Income Tax Rate Reconciliation, Tax Expense (Benefit), Share-based Payment Arrangement, Amount	(4,686)	(8,446)	(11,040)
Tax reform	0	0	826
EffectiveIncomeTaxRateReconciliationIPMigration	0	(2,118)	3,252
Effectiveincometaxreconciliation,nondeductiblecompensation	1,079	203	456
Effective Income Tax Rate Reconciliation, Other Adjustments, Amount	(196)	1,393	3
Income Tax Expense (Benefit)	$ 10,624	$ 13,672	$ (6,419)
Effective Income Tax Rate Reconciliation, at Federal Statutory Income Tax Rate, Percent	21.00%	21.00%	21.00%
Effective Income Tax Rate Reconciliation, State and Local Income Taxes	2.20%	1.10%	4.10%
Effective Income Tax Rate Reconciliation, Tax Credits	(3.40%)	(2.50%)	(22.20%)
GILTItaxexpensepercent	(2.60%)	5.30%	10.60%
Effective Income Tax Rate Reconciliation, Foreign Income Tax Rate Differential	(4.00%)	(5.20%)	(13.20%)
Effective Income Tax Rate Reconciliation, Tax Expense (Benefit), Share-based Payment Arrangement, Percent	(4.80%)	(7.40%)	(49.30%)
EffectiveIncomeTaxRateREconciliationTaxReform	0	0	0.037
EffectiveTaxRateReconciliationIPMigrationPercent	0	(0.018)	0.145
Effective Income Tax Rate Reconciliation, Contingent Consideration, Percent	1.60%	0.00%	0.00%
Effective Income Tax Rate Reconciliation, Contingent Consideration	$ 1,566	$ 0	$ 0
Effectivetaxratereconciliationnondeductiblecomppercent	1.10%	0.20%	2.00%
Effective Income Tax Rate Reconciliation, Other Adjustments, Percent	(0.20%)	1.20%	0.10%
Effective Income Tax Rate, Continuing Operations	10.90%	11.90%	(28.70%)