Geographic Information - Long Lived Assets Attributed to Geographic Area (Details) - USD ($) $ in Thousands	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Long-Lived Assets by Geographical Areas [Line Items]
Long-lived assets	$ 93,933	$ 91,129	$ 130,745
United States and Canada
Long-Lived Assets by Geographical Areas [Line Items]
Long-lived assets	42,729	45,225	61,557
Americas-Other
Long-Lived Assets by Geographical Areas [Line Items]
Long-lived assets	10,415	10,889	10,702
Germany
Long-Lived Assets by Geographical Areas [Line Items]
Long-lived assets	26,671	26,295	30,154
Europe-Other
Long-Lived Assets by Geographical Areas [Line Items]
Long-lived assets	10,966	4,984	24,935
Japan
Long-Lived Assets by Geographical Areas [Line Items]
Long-lived assets	1,192	1,423	1,039
Asia-Other
Long-Lived Assets by Geographical Areas [Line Items]
Long-lived assets	$ 1,960	$ 2,313	$ 2,358