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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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Percentage points added to the reference rate to compute the variable rate on the debt instrument.

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Face (par) amount of debt instrument at time of issuance.

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Period of time between issuance and maturity of debt instrument, in PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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Amount, after unamortized (discount) premium and debt issuance costs, of long-term debt, classified as current. Includes, but not limited to, notes payable, bonds payable, debentures, mortgage loans and commercial paper. Excludes capital lease obligations.

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