Accrued Liabilities an Other Long-term Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2020	Dec. 31, 2019
Accrued Liabilities [Abstract]
Salaries and benefits	$ 25,786	$ 21,116
Incentive compensation	27,023	15,221
Accruedsupplychainrestructuring	$ 0	$ 23,119
Operating Lease, Liability, Statement of Financial Position [Extensible List]		us-gaap:AccountsPayableAndAccruedLiabilitiesCurrentAndNoncurrent
Operating Lease, Liability, Current	us-gaap:AccountsPayableAndAccruedLiabilitiesCurrent
Accrued Professional Fees	$ 1,273	$ 4,782
Accrued Product Field Action.	0	2,096
Legal accrual	900	826
Accrued sales taxes	2,146	2,615
Warranties and returns	1,027	782
Contract with Customer, Liability, Current	5,566	4,761
Accrued other taxes	3,540	4,054
Outside commissions	5,300	3,942
Accrued freight	6,784	11,238
Restructuring accrual	3,421	5,459
UnfavorablecontractliabilityST	0	1,935
Contract settlement	0	1,667
Other	5,515	6,801
Accrued liabilities	$ 97,021	$ 117,776