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Income Taxes - Additional Information (Details) - USD ($) $ in Thousands | 12 Months Ended
--- | ---
Dec. 31, 2019 | Dec. 31, 2018 | Dec. 31, 2017
Tax Credit Carryforward [Line Items] |  |  |
Income tax expense |  | $ 1,500 | $ 53,100
Deferred tax assets, operating loss and tax credit carryforwards | $ 9,600 |  |
Valuation allowance | 29,024 | 21,868 |
Unrecognized tax benefits affecting effective tax rate | 53,100 | 53,700 |
Interest and penalties associated with unrecognized tax benefits (Operations) | 100 | 3,200 | $ 2,800
Interest and penalties associated with unrecognized tax benefits (Balance Sheet) | 27,600 | $ 27,700 |
State and Local Jurisdiction |  |  |
Tax Credit Carryforward [Line Items] |  |  |
Net operating loss carryforwards | 273,419 |  |
Deferred tax assets, operating loss and tax credit carryforwards | 31,400 |  |
Valuation allowance | 9,600 |  |
Increase in valuation allowance for deferred income tax asset | 6,700 |  |
State and Local Jurisdiction | Wisconsin Research And Development Credit |  |  |
Tax Credit Carryforward [Line Items] |  |  |
Net capital loss carryforwards | 18,100 |  |
Foreign Tax Authority |  |  |
Tax Credit Carryforward [Line Items] |  |  |
Net operating loss carryforwards | 13,800 |  |
Valuation allowance | 9,800 |  |
Operating loss carryforward, increase in valuation allowance | $ 400 |  |

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- Definition Amount of deferred tax assets for which it is more likely than not that a tax benefit will not be realized. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 740 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c) -URI http://asc.fasb.org/extlink&oid=84230637&loc=d3e32537-109319 + Details
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- Definition Amount of the difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying the domestic federal statutory income tax rates to pretax income (loss) from continuing operations, attributable to increase (decrease) in the income tax rates. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 740 -SubTopic 10 -Section 50 -Paragraph 13 -URI http://asc.fasb.org/extlink&oid=84230637&loc=d3e32698-109319 Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 740 -SubTopic 10 -Section 45 -Paragraph 15 -URI http://asc.fasb.org/extlink&oid=116821951&loc=d3e32059-109318 Reference 3: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 740 -SubTopic 10 -Section 50 -Paragraph 12 -URI http://asc.fasb.org/extlink&oid=84230637&loc=d3e32687-109319 + Details
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