Income Taxes - Additional information (Details) - USD ($)	12 Months Ended
	Dec. 31, 2019	Dec. 31, 2018	Dec. 31, 2017
Income Tax Disclosure [Line Items]
Effective income tax rates	26.00%
Cumulative loss, period	3 years
Valuation allowance	$ 24,637,000	$ 25,079,000
Operating loss carryforward period	20 years
Net operating losses limitation percentage of taxable income	80.00%
Net operating loss carryforwards , expiration date	Dec. 31, 2037
Uncertain tax positions	$ 128,000	143,000	$ 76,000
Accrued interest and penalties related to uncertain tax positions	22,000	15,000	11,000
Unremitted earnings	600,000
Federal
Income Tax Disclosure [Line Items]
Net operating loss carryforwards	165,000,000.0
Net operating loss carryforwards, subject to 20-year carryforward period			$ 57,900,000
Net operating loss carryforwards, carried forward indefinitely	107,100,000
State
Income Tax Disclosure [Line Items]
Net operating loss carryforwards	134,300,000
Foreign
Income Tax Disclosure [Line Items]
Net operating loss carryforwards	25,600,000	25,500,000
Operating loss carryforwards, valuation allowance	$ 24,600,000	$ 25,100,000