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Valuation and Qualifying Accounts (Details) - USD ($) $ in Thousands | 12 Months Ended |
--- | --- | ---
Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018 | Dec. 31, 2017
SEC Schedule, 12-09, Valuation and Qualifying Accounts Disclosure [Line Items] |  |  |  |
SEC Schedule, 12-09, Valuation Allowances and Reserves, Amount | $ 287,276 | $ 277,693 | $ 271,374 |
First quarter 2017 restructuring [Member] |  |  |  |
SEC Schedule, 12-09, Movement in Valuation Allowances and Reserves [Roll Forward] |  |  |  |
Restructuring Reserve | 854 | 4,470 | 5,667 | $ 3,550
Other Restructuring [Member] | First quarter 2017 restructuring [Member] |  |  |  |
SEC Schedule, 12-09, Movement in Valuation Allowances and Reserves [Roll Forward] |  |  |  |
Restructuring Reserve | 854 | 4,470 | 5,667 | 3,550
Allowance for Doubtful Accounts Receivable [Member] |  |  |  |
SEC Schedule, 12-09, Valuation and Qualifying Accounts Disclosure [Line Items] |  |  |  |
SEC Schedule, 12-09, Valuation Allowances and Reserves, Amount | 492 | 830 | 500 | 750
SEC Schedule, 12-09, Movement in Valuation Allowances and Reserves [Roll Forward] |  |  |  |
Charges to Expense | 24 | (616) | (199) |
SEC Schedule, 12-09, Valuation Allowances and Reserves, Deduction | 314 | 286 | 449 |
SEC Schedule, 12-09, Valuation Allowance, Deferred Tax Asset [Member] |  |  |  |
SEC Schedule, 12-09, Valuation and Qualifying Accounts Disclosure [Line Items] |  |  |  |
SEC Schedule, 12-09, Valuation Allowances and Reserves, Amount |  | 277,693 | 271,374 | $ 226,458
SEC Schedule, 12-09, Movement in Valuation Allowances and Reserves [Roll Forward] |  |  |  |
Charges to Revenue | (7,179) | 1,602 | 2,144 |
Charges to Expense | $ (16,762) | $ (4,717) | $ (42,772) |

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