Restructuring Charges (Details) $ in Thousands	12 Months Ended
	Dec. 31, 2020 USD ($)	Dec. 31, 2019 USD ($)	Dec. 31, 2018 USD ($)	Jan. 30, 2018 USD ($)
Restructuring and related costs, positions eliminated
Restructuring and other charges	$ 4,089	$ 8,821	$ 2,217
2020 Plan
Restructuring and related costs, positions eliminated
Restructuring, number of positions eliminated	70
Restructuring and other charges	$ 3,300
Restructuring payments	900
Restructuring accrual	2,400
2019 Plan
Restructuring and related costs, positions eliminated
Restructuring, number of positions eliminated		80
Restructuring and other charges	$ 800	$ 8,800
2018 Plan
Restructuring and related costs, positions eliminated
Restructuring, number of positions eliminated			50
Assets held-for-sale			$ 3,500
2018 Plan | Restructuring and other charges
Restructuring and related costs, positions eliminated
Gain on disposal of assets held for sale			1,200
2018 Plan | Employee severance
Restructuring and related costs, positions eliminated
Restructuring and other charges			2,200
2018 Plan | Employee severance | Other
Restructuring and related costs, positions eliminated
Restructuring and other charges			2,000
2018 Plan | Employee severance | Corporate
Restructuring and related costs, positions eliminated
Restructuring and other charges			$ 200
2018 Plan | Minimum
Restructuring and related costs, positions eliminated
Company estimate of the aggregate restructuring cost				$ 2,000
2018 Plan | Maximum
Restructuring and related costs, positions eliminated
Company estimate of the aggregate restructuring cost				$ 5,000