Costs Associated with Exit and Restructuring Activities -Additional Information (Details) - USD ($)	3 Months Ended		9 Months Ended		13 Months Ended
	Sep. 30, 2021	Sep. 30, 2020	Sep. 30, 2021	Sep. 30, 2020	Sep. 30, 2021	Dec. 31, 2020	Dec. 31, 2017
Restructuring Cost And Reserve [Line Items]
Restructuring charges	$ 319,000	$ 1,041,000	$ 551,000	$ 1,416,000
Restructuring reserve	263,000		263,000		$ 263,000	$ 1,363,000
Workforce Reduction
Restructuring Cost And Reserve [Line Items]
Restructuring charges	319,000	33,000	582,000	440,000
Other Restructuring Activities
Restructuring Cost And Reserve [Line Items]
Restructuring reserve	263,000		263,000		263,000	9,000
September 2020 Plan
Restructuring Cost And Reserve [Line Items]
Restructuring charges	0		0		1,397,000
Restructuring reserve	$ 0		$ 0		$ 0	$ 512,000
September 2020 Plan | Minimum
Restructuring Cost And Reserve [Line Items]
Restructuring and related cost, expected cost of plan		3,500,000		3,500,000
September 2020 Plan | Maximum
Restructuring Cost And Reserve [Line Items]
Restructuring and related cost, expected cost of plan		$ 4,500,000		$ 4,500,000
June 2016 Plan
Restructuring Cost And Reserve [Line Items]
Restructuring and related cost additional cost							$ 1,100,000