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Other Assets and Accrued Liabilities - Restructuring Plan (Details) - USD ($)
$ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Sep. 30, 2021
Sep. 30, 2020
Restructuring Reserve [Roll Forward]        
Expense $ 1,160 $ 0 $ 1,821 $ 0
Workforce Reduction Program        
Restructuring Reserve [Roll Forward]        
Beginning balance 608   0  
Expense 3,213   4,340  
Payments (1,433)   (1,952)  
Ending balance 2,388   2,388  
Workforce Reduction Program | Discontinued Operations        
Restructuring Reserve [Roll Forward]        
Expense 2,200   2,500  
Payments $ (1,100)   $ (1,200)