Summary of Significant Accounting Policies - The Balances in the Company's Accumulated Other Comprehensive Income (Loss) (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Accumulated Other Comprehensive Income (Loss) [Roll Forward]
Beginning balance	$ 209,325	$ 189,100	$ 166,682
Total other comprehensive income	(2,392)	372	576
Ending balance	256,427	209,325	189,100
Foreign Currency [Member]
Accumulated Other Comprehensive Income (Loss) [Roll Forward]
Beginning balance	(13,935)	(13,974)	(14,602)
Other comprehensive income (loss) before reclassifications	2,475	39	628
Amounts reclassified from accumulated other comprehensive income, net of tax	0	0	0
Total other comprehensive income	2,475	39	628
Ending balance	(16,410)	(13,935)	(13,974)
Defined Benefit Pension Plans [Member]
Accumulated Other Comprehensive Income (Loss) [Roll Forward]
Beginning balance	(1,466)	(1,799)	(1,747)
Other comprehensive income (loss) before reclassifications	33	269	(113)
Amounts reclassified from accumulated other comprehensive income, net of tax	(50)	64	61
Total other comprehensive income	83	333	(52)
Ending balance	(1,383)	(1,466)	(1,799)
Accumulated Other Comprehensive Income (Loss) [Member]
Accumulated Other Comprehensive Income (Loss) [Roll Forward]
Beginning balance	(15,401)	(15,773)	(16,349)
Other comprehensive income (loss) before reclassifications	2,442	308	515
Amounts reclassified from accumulated other comprehensive income, net of tax	(50)	64	61
Total other comprehensive income	2,392	372	576
Ending balance	$ (17,793)	$ (15,401)	$ (15,773)