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Employee Benefit Plan (Details) - USD ($) $ in Millions | 12 Months Ended
--- | ---
Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018
401(k) Defined Contribution Plan [Member] |  |  |
401(k) Defined Contribution Plan [Abstract] |  |  |
Maximum percentage of compensation that can be deferred | 100.00% |  |
Minimum age to make contributions | 18 years |  |
Requisite service period | 1 day |  |
Percent of employees' base pay matched by employer | 4.00% | 4.00% | 4.00%
Vesting period for Company's matching contributions | 2 years |  |
Compensation expense | $ 4.4 | $ 3.7 | $ 3.6
Additional discretionary contribution by employer, maximum percentage of employees' base pay | 10.00% |  |
Additional discretionary contribution by employer, annual vesting percentage | 20.00% |  |
Vesting period for Company's additional discretionary contributions | 5 years |  |
Defined Benefit Pension Plan [Member] | Japan [Member] |  |  |
Defined Benefit Pension Plan [Abstract] |  |  |
Accrued pension liability | $ 3.0 | 3.5 | 3.0
Pension expense | $ 0.9 | $ 0.8 | $ 0.8

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- Definition Period which an employee's right to employer's additional discretionary contributions to a defined contribution plan vest, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days. + References No definition available. + Details
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- Definition Period in which an employee's right to employer's matching contributions to a defined contribution plan vest, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days. + References No definition available. + Details
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- Definition Minimum period the individual is required to perform services to be fully vested under the deferred compensation arrangement, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 710 -SubTopic 10 -Section 55 -Paragraph 7 -URI http://asc.fasb.org/extlink&oid=6409961&loc=d3e20487-108367 Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (a)(1) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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