Income Taxes - Narrative (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2019	Dec. 31, 2018	Dec. 31, 2017	Dec. 31, 2016
Operating Loss Carryforwards [Line Items]
Approximate amount of federal net operating loss carryforward that may not be utilized	$ 47,400
Total gross unrecognized tax benefit	17,160	$ 17,513	$ 21,347	$ 27,545
Unrecognized tax benefits that would impact effective tax rate	(13,200)	(14,200)	$ (12,400)
Income tax interest and penalties	(100)	$ (1,900)
Approximate unrecognized tax benefits	$ 500
Minimum
Operating Loss Carryforwards [Line Items]
Tax credit expiration period	15 years
Maximum
Operating Loss Carryforwards [Line Items]
Tax credit expiration period	20 years
Research and development tax credit carryforwards
Operating Loss Carryforwards [Line Items]
Research and development tax credit carryforwards	$ 23,000
Federal
Operating Loss Carryforwards [Line Items]
Operating loss carryforwards	698,300
State
Operating Loss Carryforwards [Line Items]
Operating loss carryforwards	873,300
Foreign
Operating Loss Carryforwards [Line Items]
Operating loss carryforwards	139,600
Other Assets
Operating Loss Carryforwards [Line Items]
Deferred income tax liability	$ 986