Income Taxes - Additional information (Details) - USD ($)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2019	Dec. 31, 2017
Income Tax Disclosure [Line Items]
Effective income tax rates	21.00%
Cumulative loss, period	3 years
Valuation allowance	$ 93,988,000	$ 85,392,000
Operating loss carryforward period	20 years
Net operating losses limitation percentage of taxable income	80.00%
Uncertain tax positions	$ 32,000	(423,000)	$ 165,000
Decreases due to settlements with taxing authorities	1,099,000
Accrued interest and penalties related to uncertain tax positions		27,000
Unremitted earnings	15,200,000
Federal
Income Tax Disclosure [Line Items]
Net operating loss carryforwards	238,100,000
Net operating loss carryforwards, subject to 20-year carryforward period					$ 20,300,000
Net operating loss carryforwards, carried forward indefinitely				$ 217,900,000
State
Income Tax Disclosure [Line Items]
Net operating loss carryforwards	212,000,000
Net operating loss carryforwards, carried forward indefinitely	28,400,000
Foreign
Income Tax Disclosure [Line Items]
Net operating loss carryforwards	115,000,000	85,300,000
Operating loss carryforwards, valuation allowance	$ 108,000,000	$ 82,500,000