Restructuring Charges (Details) - USD ($) $ in Thousands	9 Months Ended
	Sep. 30, 2021	Sep. 30, 2020
Restructuring Costs
Expenses, net	$ 11,434	$ 12,505
Cash payments	$ (14,847)	(15,869)
Minimum
Restructuring Costs
Restructuring reserve, expected payment period	12 months
Maximum
Restructuring Costs
Restructuring reserve, expected payment period	24 months
Severance and other exit costs
Restructuring Costs
Balance Beginning	$ 10,063	12,006
Expenses, net	11,434	12,505
Cash payments	(14,847)	(15,869)
Noncash activity	(541)	(2,649)
Balance Ending	$ 6,109	$ 5,993