Income Taxes - Additional Information (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Income Taxes [Line Items]
Deferred tax assets	$ 18,336	$ 24,660
Deferred tax assets, intangibles	12,461	14,400
Deferred income tax assets, foreign	9,000	7,800
Deferred tax assets, valuation allowance	37,295	35,148
Net increase valuation allowance	2,100	26,500	$ 3,700
Undistributed earnings of foreign subsidiaries	400
Unrecognized tax benefits	2,428	1,664	$ 1,873	$ 1,924
Unrecognized tax benefits that would impact effective tax rate	$ 2,400
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	400
Operating loss carryforwards	22,100
Effective income tax rate reconciliation, tax credit, amount	3,200
Foreign Tax Authority
Income Taxes [Line Items]
Deferred tax assets	12,900	20,600
Operating loss carryforwards	48,700
Operating loss carryforwards portion that does not expire	21,900
Deferred tax assets, intangibles	10,300	$ 17,300
State and Local Jurisdiction
Income Taxes [Line Items]
Operating loss carryforwards	90,500
Effective income tax rate reconciliation, tax credit, amount	$ 400