Costs Associated with Exit and Restructuring Activities -Additional Information (Details) - USD ($)	3 Months Ended		31 Months Ended
	Mar. 31, 2023	Mar. 31, 2022	Mar. 31, 2023	Dec. 31, 2022	Sep. 30, 2020
Restructuring Cost And Reserve [Line Items]
Restructuring charges	$ 912,000	$ 312,000
Restructuring reserve	1,100,000		$ 1,100,000	$ 869,000
Minimum
Restructuring Cost And Reserve [Line Items]
Restructuring and related cost, expected cost of plan	1,500,000		1,500,000
Maximum
Restructuring Cost And Reserve [Line Items]
Restructuring and related cost, expected cost of plan	3,000,000		3,000,000
September 2020 Plan
Restructuring Cost And Reserve [Line Items]
Restructuring charges	220,000		2,279,000
Restructuring reserve	485,000		485,000	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
Exit and Disposal Activities, Building and Equipment Relocation and Workforce Reduction
Restructuring Cost And Reserve [Line Items]
Restructuring charges	692,000
Restructuring costs	102,000
Restructuring reserve	615,000		$ 615,000	$ 235,000
Shutdown
Restructuring Cost And Reserve [Line Items]
Restructuring charges	$ 56,000