Leases - Additional Information (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2021	Mar. 31, 2020	Dec. 31, 2020
Lessee Lease Description [Line Items]
Right-of-use assets from operating leases	$ 14,535		$ 18,483
Operating lease liability	20,589		$ 20,453
Impairment charge of right-of-use assets	4,200
Restructuring charges	3,544
Variable lease cost	0	$ 0
Plano, Texas
Lessee Lease Description [Line Items]
Restructuring charges	1,700
Hanover, Germany
Lessee Lease Description [Line Items]
Restructuring charges	2,500
Lease Agreement | Plano, Texas
Lessee Lease Description [Line Items]
Right-of-use assets from operating leases	1,700
Operating lease liability	$ 1,700