Derivative Financial Instruments - Additional Information (Details) - USD ($)	3 Months Ended	6 Months Ended
	Jun. 30, 2021	Jun. 30, 2021	Jun. 30, 2020	Dec. 31, 2020
Derivative [Line Items]
Derivative hedge, Ineffectiveness recognized	$ 0	$ 0
Unrealized gain (loss) on foreign currency derivatives, net, before tax		811,000	$ (1,247,000)
Derivative liabilities	680,000	680,000		$ 671,000
Foreign Currency Derivatives
Derivative [Line Items]
Derivative asset	1,023,000	1,023,000
Derivative liabilities	0	0
Cash Flow Hedging | Designated As Hedging | Interest Rate Swap
Derivative [Line Items]
Derivative, notional amount	50,000,000	50,000,000
Interest rate cash flow hedge gain (loss) to be reclassified during next 12 months	523,000	523,000
Cash Flow Hedging | Designated As Hedging | Foreign Currency Forward Contracts
Derivative [Line Items]
Foreign currency cash flow hedge gain (loss) to be reclassified during next 12 months	808,000	808,000
Derivative, notional amount	$ 11,430,000	$ 11,430,000