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Financing Arrangements - Japan Term Loan Facility (Details) | 3 Months Ended | 9 Months Ended |  |  |
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Sep. 30, 2020 JPY (¥) | Sep. 30, 2020 USD ($) | Sep. 30, 2020 JPY (¥) | Sep. 30, 2020 USD ($) | Sep. 30, 2020 USD ($) | Aug. 31, 2020 JPY (¥) | Aug. 31, 2020 USD ($) | Dec. 31, 2019 USD ($)
Debt Instrument [Line Items] |  |  |  |  |  |  |  |
Current portion of long-term debt |  |  |  |  | $ 14,623,000 |  |  | $ 7,317,000
Secured Debt | Japan Term Loan Facility |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |
Debt instrument, face amount | ¥ 2,000,000,000 |  | ¥ 2,000,000,000 |  | 18,966,000 | ¥ 2,000,000,000 | $ 18,966,000 |
Current portion of long-term debt | 400,000,000 |  | 400,000,000 |  | $ 3,793,000 |  |  |
Interest expense, debt | ¥ 2,031,000 | $ 19,000 |  |  |  |  |  |
Debt instrument, periodic payment, principal |  |  | ¥ 100,000,000 | $ 948,000 |  |  |  |
Secured Debt | Japan Term Loan Facility | Tokyo Interbank Offered Rate (TIBOR) |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |
Debt instrument, basis spread on variable rate |  |  | 0.80% | 0.80% |  |  |  |

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