Income Taxes - Narrative (Details) - USD ($)	12 Months Ended
	Dec. 31, 2019	Dec. 31, 2018	Dec. 31, 2017
Income Taxes [Line Items]
Valuation allowance	$ 24,797,000	$ 17,261,000
Increase in valuation allowance	7,500,000	8,500,000
Unrecognized tax benefits including interest and penalties	4,300,000	4,600,000
Interest and penalties	200,000	500,000	$ 500,000
Unrecognized tax benefits that would impact effective tax rate	4,300,000	4,300,000	5,300,000
Decrease in unrecognized tax benefits is reasonably possible in next 12 months	200,000
Transition tax liability	$ 1,100,000		2,200,000
Remaining payment period for transition tax liability	5 years
Federal income tax rate	21.00%
Provisional amount recorded upon remeasurement of deferred tax assets and liabilities			2,300,000
Adjustment to provisional amount recorded upon remeasurement of deferred tax assets and liabilities		300,000
GILTI deferred amounts			$ 0
Deferred tax liability related to state tax liabilities on future distributions	$ 1,700,000	$ 1,200,000
Federal
Income Taxes [Line Items]
Valuation allowance	5,800,000
State
Income Taxes [Line Items]
Net operating losses	26,200,000
Valuation allowance	1,000,000
Foreign
Income Taxes [Line Items]
Net operating losses	3,300,000
Valuation allowance	300,000
Research & Experimentation | Federal
Income Taxes [Line Items]
Income tax credit carryforwards	1,500,000
Research & Experimentation | State
Income Taxes [Line Items]
Income tax credit carryforwards	$ 10,200,000