Restructuring Charges (Details) - USD ($)	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020
Restructuring Cost and Reserve [Line Items]
Costs incurred and charged to expense	$ 3,129,000	$ 2,529,000
Restructuring Reserve [Roll Forward]
Accrued liability beginning balance	346,000	284,000
Costs incurred and charged to expense	3,407,000	1,288,000
Cash payments	(1,962,000)	(1,226,000)
Accrued liability ending balance	1,791,000	346,000
Accrued and other current liabilities	13,286,000	17,850,000
Restructuring Costs Included in Accrued and Other Liabilities, Current	1,400,000
Restructuring Costs Included in Accrued and Other Liabilities, Noncurrent	400,000
Employee Separation Costs
Restructuring Cost and Reserve [Line Items]
Costs incurred and charged to expense	2,151,000	1,288,000
Restructuring Reserve [Roll Forward]
Accrued liability beginning balance	346,000	110,000
Costs incurred and charged to expense	1,932,000	1,288,000
Cash payments	(1,962,000)	(1,052,000)
Accrued liability ending balance	316,000	346,000
Contract Termination
Restructuring Cost and Reserve [Line Items]
Costs incurred and charged to expense	978,000	1,241,000
Restructuring Reserve [Roll Forward]
Accrued liability beginning balance	0	174,000
Costs incurred and charged to expense	1,475,000	0
Cash payments	0	(174,000)
Accrued liability ending balance	$ 1,475,000	$ 0