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Financing Arrangements - Japan Term Loan Facility (Details)	1 Months Ended	3 Months Ended		12 Months Ended
	Aug. 31, 2020 USD ($)	Dec. 31, 2020 USD ($)	Dec. 31, 2020 JPY (¥)	Dec. 31, 2020 USD ($)	Dec. 31, 2020 JPY (¥)	Dec. 31, 2020 JPY (¥)	Aug. 31, 2020 JPY (¥)	Dec. 31, 2019 USD ($)
Debt Instrument [Line Items]
Current portion of long-term debt		$ 14,599,000		$ 14,599,000				$ 7,317,000
Secured Debt | Japan Term Loan Facility
Debt Instrument [Line Items]
Debt instrument, face amount	$ 19,358,000	18,390,000		18,390,000		¥ 1,900,000,000	¥ 2,000,000,000
Current portion of long-term debt		3,872,000		3,872,000		¥ 400,000,000
Interest expense, debt		$ 60,000	¥ 6,226,000
Debt instrument, periodic payment, principal				$ 968,000	¥ 100,000,000
Debt instrument term	5 years
Asset-based credit facility, interest rate		0.91%		0.91%		0.91%
Secured Debt | Japan Term Loan Facility | Tokyo Interbank Offered Rate (TIBOR)
Debt Instrument [Line Items]
Basis spread on variable rate on debt				0.80%	0.80%

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