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Employee Benefit Plan - Net Periodic Pension Costs (Details) - Non-U.S. Plan $ in Thousands | 12 Months Ended
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Dec. 31, 2019 USD ($) age | Dec. 31, 2018 USD ($) | Dec. 31, 2017 USD ($)
Plan information |  |  |
Required rate of return under Belgian law, employer contributions | 1.60% |  |
Required rate of return under Belgian law, employee contributions | 1.60% |  |
Benefit rights vests upon statutory retirement age | age | 62 |  |
Net periodic pension costs |  |  |
Service cost (gross) | $ 1,164 | $ 1,281 | $ 1,397
Interest cost | 234 | 199 | 188
Expected return on plan assets | (242) | (327) | (199)
Amortization of unrecognized actuarial gain | (22) | 18 | 45
Net periodic pension cost | $ 1,134 | $ 1,171 | $ 1,431

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