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Restructuring Charges (Details) $ in Thousands | 12 Months Ended
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Dec. 31, 2021 USD ($) | Dec. 31, 2020 USD ($) | Dec. 31, 2019 USD ($)
Restructuring and related costs, positions eliminated |  |  |
Restructuring and other charges | $ 368 | $ 4,089 | $ 8,821
2020 Plan |  |  |
Restructuring and related costs, positions eliminated |  |  |
Restructuring, number of positions eliminated |  | 70 |
Restructuring and other charges | $ 400 | $ 3,300 |
2019 Plan |  |  |
Restructuring and related costs, positions eliminated |  |  |
Restructuring, number of positions eliminated |  |  | 80
Restructuring and other charges |  | $ 800 | $ 8,800

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