Annual report pursuant to Section 13 and 15(d)

Income Taxes - Narrative (Details)

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Income Taxes - Narrative (Details) - USD ($)
 12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2016
Operating Loss Carryforwards [Line Items]        
Undistributed earnings of foreign subsidiaries $ 15,300,000      
Future annual required taxable income for state tax purposes 209,000,000.0      
Unrecognized tax benefits 1,300,000 $ 700,000 $ 1,600,000 $ 4,800,000
Unrecognized tax benefit that would impact effective tax rate, net of federal tax benefits 100,000      
Decrease resulting from prior period tax positions 0 900,000 $ 3,400,000  
Decrease to prior period tax positions related to Tax Cuts and Jobs Act of 2017   $ 3,100,000    
Foreign        
Operating Loss Carryforwards [Line Items]        
Deferred Tax Assets, Operating Loss Carryforwards, Subject to Expiration 28,100,000      
State        
Operating Loss Carryforwards [Line Items]        
Decrease in Unrecognized Tax Benefits is Reasonably Possible 100,000      
State        
Operating Loss Carryforwards [Line Items]        
Deferred Tax Assets, Operating Loss Carryforwards, Subject to Expiration $ 74,000,000.0