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Income Taxes - Reconciliation of Tax Provision at Statutory U.S. Rate to Provision for Income Taxes (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Income Tax Expense (Benefit), Continuing Operations, Income Tax Reconciliation [Abstract]
Tax provision at statutory U.S. rate	$ 9,220	$ 2,185	$ 5,495
Increase (decrease) in tax provision resulting from:
Federal research and development credits	(2,119)	(884)	(713)
Foreign permanent benefit	(2,842)	(856)	(7,077)
Foreign tax rate differential	(1,595)	(1,810)	(2,079)
Foreign undistributed earnings, net of credits	3,319	1,181	5,329
Non-deductible items	1,637	1,236	1,197
Non-territorial income	(2,493)	(1,806)	(1,079)
Provision to return	(343)	584	0
State and local taxes, net	(1,932)	(1,903)	(1,792)
Stock-based compensation	(266)	262	213
Tax rate change	(1,527)	(412)	466
Uncertain tax positions	(1,565)	(294)	(159)
Valuation allowance	3,109	7,524	8,057
Withholding tax	2,320	1,082	5,454
Other	410	683	930
Total provision for income taxes	$ 5,333	$ 6,772	$ 14,242

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Amount of difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying domestic federal statutory income tax rate to pretax income (loss) from continuing operation, attributable to expense for award under share-based payment arrangement. Excludes expense determined to be nondeductible upon grant or after for award under share-based payment arrangement.

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