Income Taxes - Additional Information (Details) - USD ($)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Income Taxes [Line Items]
Deferred tax assets additional valuation allowance recorded	$ 2,100,000	$ 2,000,000	$ 900,000
Loss carryforwards	5,700,000	4,400,000
Capital loss carryforward	5,600,000	5,600,000
Tax credits	3,700,000	3,000,000
Undistributed earnings of foreign subsidiaries	405,800,000
Estimated unrecognized income tax and foreign tax liabilities related to undistributed earnings of foreign subsidiaries	5,500,000
Unrecognized tax benefits	4,343,000	4,249,000	4,797,000	$ 5,258,000
Unrecognized tax benefits that will impact tax rate if recognized	3,800,000
Unrecognized tax benefit income tax interest and penalties accrued	700,000	700,000
Unrecognized tax benefits, income tax penalties and interest expense		100,000	$ (100,000)
Deferred tax assets recognized	72,570,000	56,816,000
Tax credits, valuation allowance	2,900,000	2,500,000
Research and Development Expense
Income Taxes [Line Items]
Deferred tax assets recognized	$ 11,600,000
Effective tax rate on income from operations	2.40%
Maximum
Income Taxes [Line Items]
Maximum unrecognized tax benefits expected to be recorded in next twelve months	$ 300,000
Unrecognized tax benefits, income tax penalties and interest expense	100,000
UNITED STATES
Income Taxes [Line Items]
Loss carryforwards	500,000	500,000
Loss carryforwards indefinite amount		100,000
Loss carryforwards remaining amount		400,000
Tax credits	$ 3,000,000	$ 2,300,000
UNITED STATES | Tax Credit That Will Expire In Certain Period
Income Taxes [Line Items]
Tax credits, expiration Year	2039	2038
UNITED STATES | Minimum
Income Taxes [Line Items]
Operating loss carryforwards expiration year	2024	2023
UNITED STATES | Maximum
Income Taxes [Line Items]
Operating loss carryforwards expiration year	2043	2036
CANADA
Income Taxes [Line Items]
Loss carryforwards	$ 5,200,000	$ 3,900,000
Operating loss carryforwards expiration year	2033	2033
Capital loss carryforward	$ 4,900,000	$ 4,900,000
CANADA | Tax Credits That Can Be Carried Forward Indefinitely
Income Taxes [Line Items]
Tax credits	700,000	700,000
UNITED KINGDOM
Income Taxes [Line Items]
Capital loss carryforward	$ 700,000	$ 700,000