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Income Taxes - Narrative (Details) - USD ($)
 12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Operating Loss Carryforwards        
Operating loss carryforwards, state and local $ 483,200,000      
Operating loss carryforwards, foreign 321,300,000      
Tax credit carryforwards 27,600,000      
Carryforwards expiring in 2019 23,800,000      
Tax credit carryforwards expiring between 2019 and 2036 482,100,000      
Increase (decrease) in valuation allowance (1,600,000) $ 4,300,000    
Undistributed earnings of foreign subsidiaries 158,000,000.0      
Unrecognized tax benefit 13,600,000 17,200,000 $ 20,300,000 $ 31,300,000
Net unrecognized tax benefits 11,000,000.0 13,900,000 13,800,000  
Unrecognized tax benefits that would impact the effective tax rate if recognized 7,000,000.0      
Gross accrued interest 3,800,000 4,100,000 3,800,000  
Net accrued interest 3,000,000.0 3,200,000 2,900,000  
Gross interest income included in income tax (provision) benefit 200,000 (500,000) 100,000  
Penalties excluded 0 0 0  
Excess tax benefits from stock-based compensation awards vested during the year 2,900,000 1,900,000 2,200,000  
Tax benefit (expense) from prior period adjustments   1,900,000 33,000,000.0  
Tax credit   1,300,000    
Tax benefit related to various audit settlements, statute expirations, and other adjustments (4,200,000) 1,200,000 $ 7,000,000.0  
Expense related to valuation allowance adjustments   $ 3,800,000    
Deferral totaling amount 10,800,000      
Maximum        
Operating Loss Carryforwards        
Reasonably possible amount that unrecognized tax benefits could decrease within next 12 months, low end of range $ 5,000,000.0