Income Taxes - Narrative (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Income Taxes [Line Items]
Amount of estimated withholding tax on foreign earnings if they were distributed as dividends	$ 5,300
Unrecognized tax benefits that would impact effective tax rate	1,200	$ 2,100
Amount of income tax (benefit) expense related to interest and penalties	200	400	$ 100
Amount of interest and penalties accrued for	100	300
Net operating losses and other carryforwards	74,240	70,820
Charitable contribution carryforwards	1,300
Capital loss carryforwards	200
Valuation allowance	(10,828)	$ (12,840)
Capital Loss Carryforward
Income Taxes [Line Items]
Valuation allowance	(100)
State
Income Taxes [Line Items]
Net operating losses and other carryforwards	4,600
State net operating losses	10,700
Federal
Income Taxes [Line Items]
Net operating losses and other carryforwards	23,100
Federal tax credit carryforwards	29,400
Federal credit carryforwards	$ 4,900