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Income Taxes - Additional Information (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Income Tax Contingency [Line Items]      
Valuation allowance, deferred tax asset, increase (decrease), amount $ (2,100)    
Deferred tax assets, operating loss carryforwards, state and local 1,900    
Tax credit carryforwards 11,200    
Cumulative temporary difference, permanently reinvested earnings 93,000    
Significant change in unrecognized tax benefits is reasonably possible, amount of unrecorded benefit 5,000    
Unrecognized tax benefits that would impact effective tax rate 16,300    
Penalty expense 200 $ 500 $ 800
Interest (income) expense 300 100 $ (100)
Liability for penalties 5,500 11,700  
Liability for interest 5,400 $ 6,600  
Valuation Allowance Release, Foreign Jurisdiction, Debt Restructuring      
Income Tax Contingency [Line Items]      
Valuation allowance, deferred taxes, released 2,300    
Valuation Allowance Release, Foreign Jurisdiction, Favorable Tax Ruling      
Income Tax Contingency [Line Items]      
Valuation allowance, deferred taxes, released 1,800    
Subject To Expiration      
Income Tax Contingency [Line Items]      
Tax credit carryforwards 10,500    
Subject To Utilization Limitations      
Income Tax Contingency [Line Items]      
Tax credit carryforwards 6,900    
Not Subject To Expiration      
Income Tax Contingency [Line Items]      
Tax credit carryforwards 700    
Foreign Country      
Income Tax Contingency [Line Items]      
Net operating loss carryforwards 166,100    
Federal Domestic      
Income Tax Contingency [Line Items]      
Net operating loss carryforwards 28,300    
Operating Loss Carryforward With No Expiration Date | Foreign Country      
Income Tax Contingency [Line Items]      
Net operating loss carryforwards 141,700    
Operating Loss Carryforward With No Expiration Date | Federal Domestic      
Income Tax Contingency [Line Items]      
Net operating loss carryforwards 25,600    
Subject To Expiration | Foreign Country      
Income Tax Contingency [Line Items]      
Net operating loss carryforwards 24,400    
Subject To Expiration | Federal Domestic      
Income Tax Contingency [Line Items]      
Net operating loss carryforwards $ 2,700