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Stock Plans - Stock-based Compensation (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018
Employee Service Share-based Compensation, Aggregate Disclosures [Abstract] |  |  |
Total stock-based compensation expense | $ 11,137 | $ 22,250 | $ 27,604
Tax benefit | 1,815 | 3,455 | 5,387
Stock-based compensation cost related to non-vested equity awards not yet recognized as an expense | $ 12,800 |  |
Weighted-average period over which stock-based compensation cost related to non-vested equity awards is expected to be recognized | 9 months 18 days |  |
Stock options |  |  |
Employee Service Share-based Compensation, Aggregate Disclosures [Abstract] |  |  |
Total stock-based compensation expense | $ 1,308 | 7,348 | 7,368
Restricted stock awards |  |  |
Employee Service Share-based Compensation, Aggregate Disclosures [Abstract] |  |  |
Total stock-based compensation expense | 9,743 | 14,775 | 20,216
Performance Based Cash Units |  |  |
Employee Service Share-based Compensation, Aggregate Disclosures [Abstract] |  |  |
Total stock-based compensation expense | 86 | 127 | 20
Stock-based compensation cost related to non-vested equity awards not yet recognized as an expense | $ 300 |  |
Weighted-average period over which stock-based compensation cost related to non-vested equity awards is expected to be recognized | 1 year 7 months 6 days |  |
Cost of revenues |  |  |
Employee Service Share-based Compensation, Aggregate Disclosures [Abstract] |  |  |
Total stock-based compensation expense | $ 2,409 | 2,929 | 4,370
Research and development |  |  |
Employee Service Share-based Compensation, Aggregate Disclosures [Abstract] |  |  |
Total stock-based compensation expense | 4,380 | 4,227 | 6,055
Selling, general and administrative |  |  |
Employee Service Share-based Compensation, Aggregate Disclosures [Abstract] |  |  |
Total stock-based compensation expense | $ 4,348 | $ 15,094 | $ 17,179

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