Stockholders’ Equity - Schedule of Accumulated Other Comprehensive Loss (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2024	Mar. 31, 2023
AOCI Attributable to Parent, Net of Tax [Roll Forward]
Beginning balance	$ 147,267	$ 124,534
Other comprehensive income (loss)	(1,068)	(1,166)
Reclassification adjustment to net income (loss)	741	339
Tax effects	(190)	162
Ending balance	145,407	118,429
Accumulated Other Comprehensive Income (Loss)
AOCI Attributable to Parent, Net of Tax [Roll Forward]
Beginning balance	(10,667)	(11,918)
Ending balance	(11,184)	(12,583)
Foreign Currency
AOCI Attributable to Parent, Net of Tax [Roll Forward]
Beginning balance	(6,412)	(8,924)
Other comprehensive income (loss)	(1,097)	715
Reclassification adjustment to net income (loss)	0	0
Tax effects	0	(194)
Ending balance	(7,509)	(8,403)
Deferred Gain (Loss) on Cash Flow Hedging
AOCI Attributable to Parent, Net of Tax [Roll Forward]
Beginning balance	2,424	4,158
Other comprehensive income (loss)	29	(1,881)
Reclassification adjustment to net income (loss)	647	252
Tax effects	(167)	379
Ending balance	2,933	2,908
Pension Plan Adjustment
AOCI Attributable to Parent, Net of Tax [Roll Forward]
Beginning balance	(6,679)	(7,152)
Other comprehensive income (loss)	0	0
Reclassification adjustment to net income (loss)	94	87
Tax effects	(23)	(23)
Ending balance	$ (6,608)	$ (7,088)