Costs Associated with Exit and Restructuring Activities -Additional Information (Details) - USD ($)	3 Months Ended		6 Months Ended
	Jun. 30, 2021	Jun. 30, 2020	Jun. 30, 2021	Jun. 30, 2020	Dec. 31, 2020	Sep. 30, 2020	Dec. 31, 2017
Restructuring Cost And Reserve [Line Items]
Restructuring charges	$ 151,000	$ 135,000	$ 232,000	$ 375,000
Restructuring reserve	201,000		201,000		$ 1,363,000
Workforce Reduction
Restructuring Cost And Reserve [Line Items]
Restructuring charges	161,000	$ 135,000	262,000	$ 407,000
Other Restructuring Activities
Restructuring Cost And Reserve [Line Items]
Restructuring reserve	163,000		163,000		9,000
September 2020 Plan
Restructuring Cost And Reserve [Line Items]
Restructuring charges	(10,000)		(27,000)
Restructuring reserve	38,000		38,000		$ 512,000
September 2020 Plan | Other Contract Termination and Facility Closure Cost True Ups
Restructuring Cost And Reserve [Line Items]
Restructuring charges			(53,000)
September 2020 Plan | Workforce Reduction
Restructuring Cost And Reserve [Line Items]
Restructuring charges	$ (10,000)		$ 26,000
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 and related cost additional cost							$ 1,100,000