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Income Taxes - Unrecognized Tax Benefits (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Reconciliation of Unrecognized Tax Benefits, Excluding Amounts Pertaining to Examined Tax Returns    
Balance at beginning of year $ 42,394 $ 55,476
Change in tax positions of prior years 8,166 6,359
Change in tax positions of current year 0 0
Reduction in tax positions for statute expirations (1,510) (16,894)
Reduction in tax positions for audit settlements (637) (2,547)
Balance at end of year $ 48,413 $ 42,394