Foreign Currency Contracts - Additional Information (Details) - Foreign Currency Forward Contracts - USD ($)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Derivative [Line Items]
Notional amount of foreign currency forward contracts	$ 172,300,000	$ 117,100,000
Net gain (loss) on foreign currency forward contracts	100,000
Foreign Exchange Transaction Gains (Losses)
Derivative [Line Items]
Net gain (loss) on foreign currency forward contracts	$ 2,500,000	(2,400,000)	$ 1,300,000
Maximum
Derivative [Line Items]
Net gain (loss) on foreign currency forward contracts		$ (100,000)