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Restructuring Restructuring Expense by Segment (Details) - USD ($)
$ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2020
Sep. 30, 2019
Sep. 30, 2020
Sep. 30, 2019
Restructuring Cost and Reserve [Line Items]        
Charges $ (349) $ 698 $ 2,025 $ 4,563
Operating Segments | Cardiovascular        
Restructuring Cost and Reserve [Line Items]        
Charges 9 783 1,265 1,521
Operating Segments | Neuromodulation        
Restructuring Cost and Reserve [Line Items]        
Charges 43 (171) 851 314
Other        
Restructuring Cost and Reserve [Line Items]        
Charges $ (401) $ 86 $ (91) $ 2,728