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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)