Costs Associated with Exit and Restructuring Activities - Restructuring Reserve Activity (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Restructuring And Related Activities [Abstract]
Restructuring liability	$ 1,363
Restructuring charges	1,687	$ 1,830	$ 7,448
Cost paid	(1,903)
Other activities	(185)
Restructuring liability	$ 962	$ 1,363