Costs Associated with Exit and Restructuring Activities -Additional Information (Details) - USD ($) $ in Thousands	3 Months Ended			9 Months Ended		36 Months Ended
	Sep. 30, 2023	Jun. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Dec. 31, 2022	Sep. 30, 2020
Restructuring Cost And Reserve [Line Items]
Restructuring charges	$ 3,226		$ 492	$ 6,033	$ 1,434
Restructuring reserve	2,824			2,824		$ 2,824	$ 869
Asset impairment charges		$ 1,324		1,324
September 2020 Plan
Restructuring Cost And Reserve [Line Items]
Restructuring charges						3,852
Restructuring reserve	83			83		83	634
Restructuring costs and asset impairment charges				1,793
Asset impairment charges				1,324
September 2020 Plan | Minimum
Restructuring Cost And Reserve [Line Items]
Restructuring and related cost, expected cost of plan	3,000			3,000		3,000		$ 3,900
Expected initiatives cost incurred not qualify as restructuring charges	1,500			1,500		1,500
September 2020 Plan | Maximum
Restructuring Cost And Reserve [Line Items]
Restructuring and related cost, expected cost of plan	4,500			4,500		4,500		$ 4,500
Expected initiatives cost incurred not qualify as restructuring charges	2,500			2,500		2,500
Exit and Disposal Activities, Building and Equipment Relocation and Workforce Reduction
Restructuring Cost And Reserve [Line Items]
Restructuring charges	3,141		$ 252	4,238	$ 1,034
Restructuring reserve	2,741			2,741		$ 2,741	$ 235
Restructuring costs	2,618			2,871
Workforce Reduction | September 2020 Plan
Restructuring Cost And Reserve [Line Items]
Restructuring costs	$ 85			469
Shutdown
Restructuring Cost And Reserve [Line Items]
Restructuring charges				$ 2,474