Accumulated Other Comprehensive Loss (Details) - USD ($)	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021
Accumulated Other Comprehensive Income (Loss) [Line Items]
Accumulated other comprehensive loss, tax	$ 0	$ 100,000
AOCI Attributable to Parent, Net of Tax [Roll Forward]
Beginning balance	464,439,000	514,205,000
Other comprehensive income (loss) before reclassifications	5,333,000	838,000
Amounts reclassified to earnings	(6,107,000)	725,000
Ending balance	447,147,000	464,439,000
Foreign currency translation
AOCI Attributable to Parent, Net of Tax [Roll Forward]
Beginning balance	(754,000)	(630,000)
Other comprehensive income (loss) before reclassifications	(505,000)	(124,000)
Amounts reclassified to earnings	0	0
Ending balance	(1,259,000)	(754,000)
Unrealized loss on cash flow hedges
AOCI Attributable to Parent, Net of Tax [Roll Forward]
Beginning balance	269,000	(1,418,000)
Other comprehensive income (loss) before reclassifications	5,838,000	962,000
Amounts reclassified to earnings	(6,107,000)	725,000
Ending balance	0	269,000
Accumulated other comprehensive loss
AOCI Attributable to Parent, Net of Tax [Roll Forward]
Beginning balance	(485,000)	(2,048,000)
Ending balance	$ (1,259,000)	$ (485,000)