Income Taxes - Additional Information (Details) - USD ($)	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Income Tax Disclosure [Line Items]
Uncertain tax positions	$ 0	$ 0	$ 0
Increase in valuation allowance	$ 3,600,000	18,700,000
Income Tax Examination, Description	The Company is subject to audit by federal and state tax authorities in the ordinary course of business. The Company’s federal income tax returns remain subject to examination for the 2015 through 2022 tax years. The Company files in multiple state jurisdictions which remain subject to examination for various years depending on such state jurisdiction. The Company is also subject to audit by tax authorities in Canada, Australia, Germany, and Sweden for which returns are subject to examination for various years, dependent on the jurisdiction.
Deferred payments	$ 2,250,000	1,709,000	851,000
CARES Act [Member]
Income Tax Disclosure [Line Items]
Deferred payments	5,000,000.0	5,000,000.0	$ 5,000,000.0
Deferred payments, repaid	2,500,000	$ 2,500,000
Domestic Tax Authority [Member]
Income Tax Disclosure [Line Items]
Operating Loss Carryforwards	$ 60,700,000
Operating loss carryforwards begin to expire year	2035
Operating losses generated beginning year	2018
Loss carryforwards not subject to expiration	$ 51,900,000
Domestic Tax Authority [Member] | Earliest Tax Year [Member]
Income Tax Disclosure [Line Items]
Tax years remain subject to examination	2015
Domestic Tax Authority [Member] | Latest Tax Year [Member]
Income Tax Disclosure [Line Items]
Tax years remain subject to examination	2022
State and Local Jurisdiction [Member]
Income Tax Disclosure [Line Items]
Operating Loss Carryforwards	$ 37,300,000