Derivative Financial Instruments - Additional Information (Details) - USD ($)	3 Months Ended	9 Months Ended
	Sep. 30, 2021	Sep. 30, 2021	Sep. 30, 2020	Dec. 31, 2020
Derivative [Line Items]
Derivative hedge, Ineffectiveness recognized	$ 0	$ 0
Unrealized gain (loss) on foreign currency derivatives, net, before tax		388,000	$ (458,000)
Derivative liabilities	684,000	684,000		$ 671,000
Foreign Currency Derivatives
Derivative [Line Items]
Derivative asset	474,000	474,000
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	527,000	527,000
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	385,000	385,000
Derivative, notional amount	$ 6,282,000	$ 6,282,000