Restructuring (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2019	Dec. 31, 2018	Dec. 31, 2017
Restructuring Cost and Reserve [Line Items]
Restructuring reserve	$ 258	$ 1,857
Restructuring charges	1,639	2,930	$ 3,317
Restructuring Reclassification to Operating Lease Liabilities	(554)
Payments for Restructuring	(2,684)
Facility Closing [Member]
Restructuring Cost and Reserve [Line Items]
Restructuring reserve	28	591
Restructuring charges	0
Restructuring Reclassification to Operating Lease Liabilities	(554)
Payments for Restructuring	(9)
Employee Severance [Member]
Restructuring Cost and Reserve [Line Items]
Restructuring reserve	230	1,266
Restructuring charges	1,639
Restructuring Reclassification to Operating Lease Liabilities	0
Payments for Restructuring	(2,675)
2019 Restructuring Plan [Member]
Restructuring Cost and Reserve [Line Items]
Severance costs	1,600
Restructuring reserve	200
2019 Restructuring Plan [Member] | Other Noncurrent Liabilities [Member]
Restructuring Cost and Reserve [Line Items]
Restructuring reserve		400
2018 Restructuring Plan [Member]
Restructuring Cost and Reserve [Line Items]
Restructuring reserve	100	1,900
2018 Restructuring Plan [Member] | Accounts Payable and Accrued Liabilities [Member]
Restructuring Cost and Reserve [Line Items]
Restructuring reserve	$ 100	$ 1,500