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, 2023	Dec. 31, 2022	Dec. 31, 2021
Accumulated Other Comprehensive Income (Loss) [Roll Forward]
Beginning balance	$ 256,427	$ 209,325	$ 189,100
Total other comprehensive income	978	(2,392)	372
Ending balance	292,800	256,427	209,325
Foreign Currency [Member]
Accumulated Other Comprehensive Income (Loss) [Roll Forward]
Beginning balance	(16,410)	(13,935)	(13,974)
Other comprehensive income (loss) before reclassifications	859	(2,475)	39
Amounts reclassified from accumulated other comprehensive income, net of tax	0	0	0
Total other comprehensive income	859	(2,475)	39
Ending balance	(15,551)	(16,410)	(13,935)
Defined Benefit Pension Plans [Member]
Accumulated Other Comprehensive Income (Loss) [Roll Forward]
Beginning balance	(1,383)	(1,466)	(1,799)
Other comprehensive income (loss) before reclassifications	66	33	269
Amounts reclassified from accumulated other comprehensive income, net of tax	53	50	64
Total other comprehensive income	119	83	333
Ending balance	(1,264)	(1,383)	(1,466)
Accumulated Other Comprehensive Income (Loss) [Member]
Accumulated Other Comprehensive Income (Loss) [Roll Forward]
Beginning balance	(17,793)	(15,401)	(15,773)
Other comprehensive income (loss) before reclassifications	925	(2,442)	308
Amounts reclassified from accumulated other comprehensive income, net of tax	53	50	64
Total other comprehensive income	978	(2,392)	372
Ending balance	$ (16,815)	$ (17,793)	$ (15,401)