Series B Convertible Preferred Stock and Stockholders’ Equity - Accumulated Other Comprehensive Loss (Details) - USD ($) $ in Thousands	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Accumulated Other Comprehensive Income (Loss) [Line Items]
Total	$ 230,399	$ 272,393	$ 333,686	$ 364,313
Total
Accumulated Other Comprehensive Income (Loss) [Line Items]
Total	(46,364)	(31,667)	$ (31,060)	$ (28,837)
Foreign currency translation adjustments
Accumulated Other Comprehensive Income (Loss) [Line Items]
Total	(46,247)	(31,368)
Pension and other postretirement benefit plans
Accumulated Other Comprehensive Income (Loss) [Line Items]
Total	$ (117)	$ (299)