Employee Benefit Plan (Details) - USD ($) $ in Millions |
12 Months Ended | ||
|---|---|---|---|
Dec. 31, 2019 |
Dec. 31, 2018 |
Dec. 31, 2017 |
|
| 401(k) Defined Contribution Plan [Member] | |||
| 401(k) Defined Contribution Plan [Abstract] | |||
| Maximum percentage of compensation that can be deferred | 100.00% | ||
| Minimum age to make contributions | 18 years | ||
| Requisite service period | 1 day | ||
| Percent of employees' base pay matched by employer | 4.00% | 4.00% | 4.00% |
| Vesting period for Company's matching contributions | 2 years | ||
| Compensation expense | $ 3.7 | $ 3.6 | $ 3.2 |
| Additional discretionary contribution by employer, maximum percentage of employees' base pay | 10.00% | ||
| Additional discretionary contribution by employer, annual vesting percentage | 20.00% | ||
| Vesting period for Company's additional discretionary contributions | 5 years | ||
| Defined Benefit Pension Plan [Member] | Japan [Member] | |||
| Defined Benefit Pension Plan [Abstract] | |||
| Accrued pension liability | $ 3.5 | 3.0 | 6.1 |
| Pension expense | $ 0.8 | $ 0.8 | $ 0.7 |