Costs Associated with Exit and Restructuring Activities -Additional Information (Details) - USD ($)	3 Months Ended
	Mar. 31, 2021	Mar. 31, 2020	Dec. 31, 2020	Sep. 30, 2020	Dec. 31, 2017
Restructuring Cost And Reserve [Line Items]
Restructuring charges	$ 81,000	$ 240,000
Restructuring reserve	1,060,000		$ 1,363,000
Workforce Reduction
Restructuring Cost And Reserve [Line Items]
Restructuring charges	101,000	272,000
Other Restructuring Activities
Restructuring Cost And Reserve [Line Items]
Restructuring reserve	83,000		9,000
September 2020 Plan
Restructuring Cost And Reserve [Line Items]
Restructuring charges	(17,000)
Restructuring reserve	130,000		512,000
September 2020 Plan | Other Contract Termination and Facility Closure Costs
Restructuring Cost And Reserve [Line Items]
Restructuring charges	(53,000)
September 2020 Plan | Workforce Reduction
Restructuring Cost And Reserve [Line Items]
Restructuring charges	36,000
September 2020 Plan | Minimum
Restructuring Cost And Reserve [Line Items]
Restructuring and related cost, expected cost of plan				$ 4,600,000
Expected initiatives cost incurred not qualify as restructuring charges				4,000,000
September 2020 Plan | Maximum
Restructuring Cost And Reserve [Line Items]
Restructuring and related cost, expected cost of plan				6,000,000
Expected initiatives cost incurred not qualify as restructuring charges				$ 5,100,000
June 2016 Plan
Restructuring Cost And Reserve [Line Items]
Restructuring charges	(3,000)	(32,000)
Restructuring reserve	0		3,000
Restructuring and related cost additional cost					$ 1,100,000
April 2014 Plan
Restructuring Cost And Reserve [Line Items]
Restructuring charges	0	$ 0
Restructuring reserve	$ 847,000		$ 839,000