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Severance, Restructuring, and Acquisition Integration Activities - Costs of Various Programs (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018
Restructuring Cost and Reserve [Line Items] |  |  |
Severance, restructuring, and acquisition integration costs | $ 12,258 | $ 26,544 | $ 22,625
Cost of sales |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Severance, restructuring, and acquisition integration costs | 704 | 3,425 | 17,962
Selling, general and administrative expenses |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Severance, restructuring, and acquisition integration costs | 11,554 | 23,119 | 4,546
Research and development expenses |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Severance, restructuring, and acquisition integration costs | $ 0 | $ 0 | $ 117

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