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Financing Arrangements - Japan Term Loan Facility (Details) $ in Thousands | 1 Months Ended | 3 Months Ended | 9 Months Ended |  |
--- | --- | --- | --- | --- | ---
Aug. 31, 2020 JPY (¥) | Sep. 30, 2021 JPY (¥) | Sep. 30, 2021 USD ($) | Sep. 30, 2020 USD ($) | Sep. 30, 2021 JPY (¥) | Sep. 30, 2021 USD ($) | Sep. 30, 2020 USD ($) | Sep. 30, 2021 USD ($) | Aug. 31, 2020 USD ($)
Line of Credit Facility [Line Items] |  |  |  |  |  |  |  |  |
Interest expense, debt |  |  | $ 205 | $ 247 |  | $ 665 | $ 624 |  |
Japan Term Loan Facility |  |  |  |  |  |  |  |  |
Line of Credit Facility [Line Items] |  |  |  |  |  |  |  |  |
Debt instrument, term | 5 years |  |  |  |  |  |  |  |
Debt instrument, face amount |  | ¥ 1,600,000,000 |  |  | ¥ 1,600,000,000 |  |  | $ 14,379 |
Long-term debt, current maturities |  | 400,000,000 |  |  | 400,000,000 |  |  | $ 3,595 |
Interest expense, debt |  | ¥ 3,544,000 | $ 32 |  | 11,156,000 | 103 |  |  |
Japan Term Loan Facility | Secured Debt |  |  |  |  |  |  |  |  |
Line of Credit Facility [Line Items] |  |  |  |  |  |  |  |  |
Debt instrument, face amount | ¥ 2,000,000,000 |  |  |  |  |  |  |  | $ 17,974
Debt instrument, periodic payment, principal |  |  |  |  | ¥ 100,000,000 | $ 899 |  |  |
Japan Term Loan Facility | Secured Debt | Tokyo Interbank Offered Rate (TIBOR) |  |  |  |  |  |  |  |  |
Line of Credit Facility [Line Items] |  |  |  |  |  |  |  |  |
Debt instrument, basis spread on variable rate |  |  |  |  | 0.80% | 0.80% |  |  |

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