Income Tax - Additional Information (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Unusual Risk Or Uncertainty [Line Items]
Foreign tax credit carryforward	$ 19,179	$ 17,577
General business credit carryforward	8,008	7,053
Gross operating loss carryforwards	139,993
Valuation allowance	60,863	59,952
Deferred foreign tax liability	2,713	2,244
Uncertain tax positions	273	631	$ 18,618	$ 18,665
Income tax penalties and interest accrued	100	200	2,400
Unrecognized tax benefits that would impact effective tax rate	300
Income taxes paid	13,700	$ 1,300	$ 2,000
Canada
Unusual Risk Or Uncertainty [Line Items]
Deferred foreign tax liability	2,700
Domestic Country
Unusual Risk Or Uncertainty [Line Items]
Gross operating loss carryforwards	135,500
Indefinite
Unusual Risk Or Uncertainty [Line Items]
Foreign tax credit carryforward	3,000
Gross operating loss carryforwards	135,053
Indefinite | Domestic Country
Unusual Risk Or Uncertainty [Line Items]
Gross operating loss carryforwards	134,400
2024-2032
Unusual Risk Or Uncertainty [Line Items]
Foreign tax credit carryforward	16,200
2037-2043
Unusual Risk Or Uncertainty [Line Items]
General business credit carryforward	8,000
Covid 19
Unusual Risk Or Uncertainty [Line Items]
Net operating loss carryback claims	15,800
Income taxes paid	$ 5,200