Income Taxes - Uncertain Income Tax Positions (Details)	12 Months Ended
	Dec. 31, 2021 USD ($) jurisdiction	Dec. 31, 2020 USD ($)	Dec. 31, 2019 USD ($)
Income Tax Contingency [Line Items]
Number of significant foreign jurisdictions | jurisdiction	3
Unrecognized tax benefits	$ 2,900,000	$ 2,700,000	$ 2,400,000
Unrecognized tax benefits that would impact effective tax rate	1,000,000	1,300,000
Interest and penalties recognized	(100,000)	700,000	200,000
Interest and penalties accrued	600,000	1,100,000
Reconciliation of Unrecognized Tax Benefits, Excluding Amounts Pertaining to Examined Tax Returns [Roll Forward]
Balance at beginning of year	2,700,000	2,400,000	2,600,000
Increases related to positions taken in the current year	0	700,000	900,000
Decreases related to positions taken in prior years	(1,600,000)	0	0
Increases related to positions taken in prior years	1,900,000	0	0
Decreases related to lapse of statutes of limitations	(100,000)	(400,000)	(1,100,000)
Balance at end of year	2,900,000	$ 2,700,000	$ 2,400,000
Minimum
Income Tax Contingency [Line Items]
Possible decrease in unrecognized tax benefits	0
Maximum
Income Tax Contingency [Line Items]
Possible decrease in unrecognized tax benefits	1,000,000
TMA Agreement, Indemnification Asset
Income Tax Contingency [Line Items]
Indemnification asset	$ 900,000