Income Taxes - Additional Information (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Income Taxes [Line Items]
Deferred tax assets	$ 14,224	$ 18,336
Deferred tax assets, valuation allowance	46,515	37,295
Deferred tax assets, intangibles	13,996	12,461
Deferred income tax assets, foreign	8,000	9,000
Net increase valuation allowance	9,200	2,100	$ 26,500
Unrecognized tax benefits	2,523	2,428	$ 1,664	$ 1,873
Unrecognized tax benefits that would impact effective tax rate	2,500
Interest Expense Limitation Carryforward
Income Taxes [Line Items]
Deferred tax assets, valuation allowance	$ 2,000
Minimum
Income Taxes [Line Items]
Tax returns examination statute of limitations period	3 years
Maximum
Income Taxes [Line Items]
Tax returns examination statute of limitations period	4 years
Domestic Tax Authority
Income Taxes [Line Items]
Deferred income tax liabilities	$ 500	500
Operating loss carryforwards	31,000
Effective income tax rate reconciliation, tax credit, amount	4,600
Foreign Tax Authority
Income Taxes [Line Items]
Deferred tax assets	12,100	12,900
Operating loss carryforwards	46,800
Operating loss carryforwards portion that does not expire	30,700
Foreign tax credit allowance	1,100
Deferred tax assets, intangibles	8,500	$ 10,300
State and Local Jurisdiction
Income Taxes [Line Items]
Operating loss carryforwards	140,000
Effective income tax rate reconciliation, tax credit, amount	$ 400