Stockholders' Equity - Accumulated Other Comprehensive Income (Details) - USD ($) $ in Thousands	3 Months Ended
	Sep. 30, 2020	Jun. 30, 2020	Mar. 31, 2020	Sep. 30, 2019	Jun. 30, 2019	Mar. 31, 2019
AOCI Attributable to Parent, Net of Tax [Roll Forward]
Beginning balance			$ 36,266
Other comprehensive income (loss)	$ 779	$ 578	(5,156)	$ (724)	$ (950)	$ (385)
Reclassification adjustment to net income (loss)	(447)	(48)	393	337	344	49
Tax effects	(76)	(169)	1,053	(18)	210	229
Ending balance	60,400			42,544
Foreign Currency
AOCI Attributable to Parent, Net of Tax [Roll Forward]
Beginning balance	(11,555)	(12,074)	(8,221)	(8,188)	(8,423)	(8,652)
Other comprehensive income (loss)	622	742	(4,985)	(558)	248	246
Reclassification adjustment to net income (loss)	0	0	0	0	0	0
Tax effects	(168)	(223)	1,132	31	(13)	(17)
Ending balance	(11,101)	(11,555)	(12,074)	(8,715)	(8,188)	(8,423)
Deferred Gain (Loss) on Cash Flow Hedging
AOCI Attributable to Parent, Net of Tax [Roll Forward]
Beginning balance	(648)	(393)	(341)	(274)	459	879
Other comprehensive income (loss)	157	(164)	(171)	(166)	(1,198)	(631)
Reclassification adjustment to net income (loss)	(605)	(188)	154	171	202	4
Tax effects	136	97	(35)	(10)	263	207
Ending balance	(960)	(648)	(393)	(279)	(274)	459
Pension Plan Adjustment
AOCI Attributable to Parent, Net of Tax [Roll Forward]
Beginning balance	(7,278)	(7,375)	(7,570)	(9,142)	(9,244)	(9,328)
Other comprehensive income (loss)	0	0	0	0	0	0
Reclassification adjustment to net income (loss)	158	140	239	166	142	45
Tax effects	(44)	(43)	(44)	(39)	(40)	39
Ending balance	(7,164)	(7,278)	(7,375)	(9,015)	(9,142)	(9,244)
Accumulated Other Comprehensive Income (Loss)
AOCI Attributable to Parent, Net of Tax [Roll Forward]
Beginning balance	(19,481)	(19,842)	(16,132)	(17,604)	(17,208)	(17,101)
Ending balance	$ (19,225)	$ (19,481)	$ (19,842)	$ (18,009)	$ (17,604)	$ (17,208)