Costs Associated with Exit and Restructuring Activities - Additional Information (Details) - USD ($)	3 Months Ended	12 Months Ended			16 Months Ended
	Dec. 31, 2021	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2021	Sep. 30, 2020	Dec. 31, 2017
Restructuring Cost And Reserve [Line Items]
Restructuring charges		$ 1,687,000	$ 1,830,000	$ 7,448,000
Restructuring reserve	$ 962,000	962,000	1,363,000		$ 962,000
Exit and Disposal Activities, Building and Equipment Relocation and Workforce Reduction
Restructuring Cost And Reserve [Line Items]
Restructuring charges		1,717,000	442,000
Restructuring reserve	962,000	962,000	9,000		962,000
September 2020 Plan
Restructuring Cost And Reserve [Line Items]
Restructuring charges	0	0			1,397,000
Restructuring reserve	$ 0	0			$ 0
September 2020 Plan | Minimum
Restructuring Cost And Reserve [Line Items]
Restructuring and related cost, expected cost of plan						$ 3,500,000
September 2020 Plan | Maximum
Restructuring Cost And Reserve [Line Items]
Restructuring and related cost, expected cost of plan						$ 4,500,000
June 2016 Plan
Restructuring Cost And Reserve [Line Items]
Restructuring charges		$ (3,000)	$ (32,000)	$ 4,284,000
Restructuring and related cost additional cost							$ 1,100,000