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Income Taxes - Additional Information (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Tax Act:        
U.S. federal corporate income tax rate 21.00% 21.00% 21.00% 35.00%
Tax Act, provisional tax charge       $ 15,000
Tax Act, provisional tax charge, subsequent adjustment     $ 4,900  
Tax Act, one-time transition tax on certain unremitted foreign earnings       20,900
Tax Act, one-time transition tax on certain unremitted foreign earnings, subsequent adjustment     8,100  
Valuation Allowance:        
Other $ 9,051 $ 8,517    
Tax credits 40,188 47,411    
Valuation allowance, deferred tax asset, increase (decrease) in amount during the period   (12,800)    
Income Tax Uncertainties:        
Unrecognized tax benefit 24,310 29,000 28,406 $ 27,237
Net unrecognized tax benefits that, if recognized, would favorably impact the effective income tax rate 23,200 28,200    
Increase (decrease) in unrecognized tax benefits due to the settlement of various audits and the expiration of statutes of limitations (3,600)      
Accrued interest and penalties related to income tax liabilities 1,200 1,200    
Aggregate amount of interest and penalties expense (benefit) recorded in the statement of operations 100 200 (100)  
Revision of Prior Period, Reclassification, Adjustment | Deferred Tax Assets, Operating Lease        
Valuation Allowance:        
Other   13,000    
Revision of Prior Period, Reclassification, Adjustment | Deferred Tax Liabilities, Operating Lease Right-Of-Use Asset        
Valuation Allowance:        
Other   11,900    
Revision of Prior Period, Reclassification, Adjustment | Deferred Tax Assets, Other        
Valuation Allowance:        
Tax credits   5,500    
Other Noncurrent Liabilities        
Income Tax Uncertainties:        
Unrecognized tax benefit 17,700 22,400    
Foreign        
Valuation Allowance:        
Valuation allowance, deferred tax asset, increase (decrease) in amount during the period   $ (15,500) $ 15,500  
Operating Loss Carryforwards:        
Operating loss carryforwards 25,000      
Operating loss carryforwards, valuation allowance 700      
Operating loss carryforwards, not subject to expiration $ 22,800      
Operating loss carryforwards, expiration period 10 years      
Tax Credit Carryforward:        
Tax credit carryfoward $ 38,900      
Tax credit carryforward, valuation allowance 2,300      
Domestic Federal        
Operating Loss Carryforwards:        
Operating loss carryforwards 59,900      
Domestic Federal | General Business Tax Credit Carryforward        
Tax Credit Carryforward:        
Tax credit carryfoward 17,100      
State        
Operating Loss Carryforwards:        
Operating loss carryforwards, deferred tax asset, subject to expiration 1,500      
Operating loss carryforwards, valuation allowance 1,200      
State | General Business Tax Credit Carryforward        
Tax Credit Carryforward:        
Tax credit carryfoward 800      
Other Foreign Jurisdiction        
Tax Credit Carryforward:        
Tax credit carryfoward 2,300      
Tax credit carryforward, valuation allowance 1,200      
Tax credit carryforward, not subject to expiration $ 1,100      
Tax credit carryforward, expiration period 7 years