Series B Convertible Preferred Stock and Stockholders’ Equity - Accumulated Other Comprehensive Loss (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Accumulated Other Comprehensive Income (Loss) [Line Items]
Total	$ 174,030	$ 230,399	$ 272,393	$ 333,686
Total
Accumulated Other Comprehensive Income (Loss) [Line Items]
Total	(45,643)	(46,364)	$ (31,667)	$ (31,060)
Foreign currency translation adjustments
Accumulated Other Comprehensive Income (Loss) [Line Items]
Total	(45,231)	(46,247)
Pension and other postretirement benefit plans
Accumulated Other Comprehensive Income (Loss) [Line Items]
Total	$ (412)	$ (117)