Costs Associated with Exit and Restructuring Activities - Additional Information (Details) - USD ($)	3 Months Ended	12 Months Ended			28 Months Ended
	Dec. 31, 2022	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2022	Dec. 30, 2022	Sep. 30, 2020
Restructuring Cost And Reserve [Line Items]
Restructuring charges		$ 1,912,000	$ 1,687,000	$ 1,830,000
Restructuring reserve	$ 869,000	869,000	962,000		$ 869,000
Exit and Disposal Activities, Building and Equipment Relocation and Workforce Reduction
Restructuring Cost And Reserve [Line Items]
Restructuring charges		1,250,000	1,717,000
Restructuring reserve	235,000	235,000	962,000		235,000
September 2020 Plan
Restructuring Cost And Reserve [Line Items]
Restructuring charges	$ 266,000	$ 662,000			$ 2,059,000
Restructuring reserve			$ 0			$ 634,000
September 2020 Plan | Minimum
Restructuring Cost And Reserve [Line Items]
Restructuring and related cost, expected cost of plan							$ 3,500,000
September 2020 Plan | Maximum
Restructuring Cost And Reserve [Line Items]
Restructuring and related cost, expected cost of plan							$ 4,500,000