Income Taxes - Additional Information (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2019	Dec. 31, 2018	Dec. 31, 2017	Dec. 31, 2016
Tax Credit Carryforward [Line Items]
Cash associated with indefinitely reinvested foreign earnings	$ 9,700
Unrecognized tax benefits related to uncertain tax positions	9,799	$ 9,127	$ 9,105	$ 6,844
Recorded as a decrease in deferred tax assets and offsetting valuation allowance	9,390	8,451	7,996
Unrecognized Tax Benefits Recorded as Other Long Term Liability	409	676	1,109
Reversal of tax reserve	334	$ 543	$ 511
Unrecognized tax benefits	9,800
Tax Reserve Member
Tax Credit Carryforward [Line Items]
Reversal of tax reserve	200
Unrecognized Tax Benefits Reserve Accrued Interest Member
Tax Credit Carryforward [Line Items]
Reversal of tax reserve	100
Research and development and other tax credit carryforwards
Tax Credit Carryforward [Line Items]
Tax credit carryforwards	$ 24,900