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Income Taxes - Additional Information (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2021 | Dec. 31, 2020 | Dec. 31, 2019
Tax Credit Carryforward [Line Items] |  |  |
Deferred tax assets, operating loss and tax credit carryforwards | $ 8,100 |  |
Valuation allowance | 33,596 | $ 38,072 |
Unrecognized tax benefits affecting effective tax rate | 38,400 | 43,800 |
Interest and penalties associated with unrecognized tax benefits (Operations) | 2,600 | 2,100 | $ 100
Interest and penalties associated with unrecognized tax benefits (Balance Sheet) | 22,900 | 25,500 |
State and Local Jurisdiction |  |  |
Tax Credit Carryforward [Line Items] |  |  |
Deferred tax assets, operating loss and tax credit carryforwards | 48,900 |  |
Net operating loss carryforwards | 310,819 | $ 317,433 |
Valuation allowance | 18,200 |  |
Increase in valuation allowance for deferred income tax asset | 600 |  |
State and Local Jurisdiction | Wisconsin Research And Development Credit |  |  |
Tax Credit Carryforward [Line Items] |  |  |
Net capital loss carryforwards | 38,100 |  |
Foreign Tax Authority |  |  |
Tax Credit Carryforward [Line Items] |  |  |
Net capital loss carryforwards | 4,000 |  |
Net operating loss carryforwards | 11,500 |  |
Valuation allowance | 7,200 |  |
Operating loss carryforward, increase in valuation allowance | $ (5,100) |  |

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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://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 740 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c) -URI http://asc.fasb.org/extlink&oid=121826272&loc=d3e32537-109319 + Details
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- Definition Amount of operating loss carryforward, before tax effects, available to reduce future taxable income under enacted tax laws. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 740 -SubTopic 10 -Section 50 -Paragraph 3 -Subparagraph (a) -URI http://asc.fasb.org/extlink&oid=121826272&loc=d3e32559-109319 + Details
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