Income Taxes - Additional Information (Details) - USD ($)	12 Months Ended
	Dec. 31, 2019	Dec. 31, 2018	Dec. 31, 2017	Dec. 31, 2016
Income Taxes [Line Items]
Deferred tax assets, valuation allowances	$ 12,302,000	$ 12,884,000
Valuation allowances recorded on operating losses in certain tax jurisdictions		300,000
Loss carryforwards	3,800,000	3,700,000
Capital loss carryforward	5,700,000	5,700,000
Tax credits	2,800,000	2,800,000
Undistributed earnings of foreign subsidiaries	168,400,000
Estimated unrecognized income tax and foreign tax liabilities related to undistributed earnings of foreign subsidiaries	200,000
Unrecognized tax benefits	4,929,000	4,725,000	$ 4,089,000	$ 4,962,000
Unrecognized tax benefits that will impact tax rate if recognized	4,800,000	3,600,000
Unrecognized tax benefit income tax interest and penalties accrued	500,000	500,000
Maximum
Income Taxes [Line Items]
Maximum unrecognized tax benefits expected to be recorded in next twelve months	500,000
Unrecognized tax benefits, income tax penalties and interest expense	100,000	100,000	$ 100,000
CANADA
Income Taxes [Line Items]
Deferred tax assets, valuation allowances	500,000	400,000
Loss carryforwards	$ 3,500,000	$ 3,000,000.0
Operating loss carryforwards expiration year	2033	2033
Capital loss carryforward	$ 5,200,000	$ 5,200,000
Tax credits	1,900,000	1,900,000
CANADA | Tax Credit That Will Expire In Certain Period
Income Taxes [Line Items]
Tax credits	$ 1,200,000	$ 1,200,000
Tax credits, expiration Year	2022	2022
CANADA | Tax Credits That Can Be Carried Forward Indefinitely
Income Taxes [Line Items]
Tax credits	$ 700,000	$ 700,000
UNITED STATES
Income Taxes [Line Items]
Loss carryforwards	$ 300,000	$ 700,000
Operating loss carryforwards expiration year	2037	2037
Tax credits	$ 900,000	$ 900,000
UNITED STATES | Tax Credit That Will Expire In Certain Period
Income Taxes [Line Items]
Tax credits	$ 800,000	$ 800,000
Tax credits, expiration Year	2034	2033
UNITED STATES | Tax Credits That Can Be Carried Forward Indefinitely
Income Taxes [Line Items]
Tax credits	$ 100,000	$ 100,000
UNITED KINGDOM
Income Taxes [Line Items]
Capital loss carryforward	$ 500,000	$ 500,000