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Income Taxes Unrecognized tax benefit (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Income Taxes [Abstract]        
Unrecognized tax benefit balance $ 22,184 $ 24,208 $ 36,364 $ 37,319
Reductions based on tax positions related to current year 1,204 654 206  
Additions for tax positions of prior years 45 415 735  
Reductions for tax positions of prior years (2,086) (11,917) (488)  
Settlements (1,187) $ 0 $ (996)  
Tax benefits, if recognized, affect annual effective tax rate 2,700      
Accrued for payment of interest related to unrecognized tax benefits 2,700      
Interest expense related to unrecognized tax benefits $ 400