Retirement Plans - Schedule of Benefit Obligation, Fair Value of Assets, and Funded Status of the Plans (Details) - Pension Plan - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020
United States
Change in benefit obligation
Benefit obligation at beginning of year	$ 8,448	$ 7,809
Interest cost	172	224
Actuarial (gain) loss	(319)	813
Benefits paid	(426)	(398)
Benefit obligation at end of year	7,875	8,448
Change in plan asset
Fair value of assets at beginning of year	4,459	4,360
Actual gain on plan assets	434	197
Employer contribution	300	300
Benefits paid	(426)	(398)
Fair value of assets at end of year	4,767	4,459
Funded status at end of year	(3,108)	(3,989)
Amount recognized in the consolidated balance sheet consists of:
Other long-term liabilities	(3,108)	(3,989)
Amounts recognized in accumulated other comprehensive income consists of:
Net loss	2,082	2,686
United Kingdom
Change in benefit obligation
Benefit obligation at beginning of year	10,265	9,101
Interest cost	109	184
Actuarial (gain) loss	(825)	996
Benefits paid	(302)	(283)
Foreign currency exchange rate changes	(112)	267
Benefit obligation at end of year	9,135	10,265
Change in plan asset
Fair value of assets at beginning of year	7,975	7,290
Actual gain on plan assets	522	453
Employer contribution	336	337
Benefits paid	(338)	(319)
Foreign currency exchange rate changes	(86)	214
Fair value of assets at end of year	8,409	7,975
Funded status at end of year	(726)	(2,290)
Amount recognized in the consolidated balance sheet consists of:
Other long-term liabilities	(726)	(2,290)
Amounts recognized in accumulated other comprehensive income consists of:
Net loss	837	2,247
Prior service cost	127	152
Defined benefit plan, comprehensive (income) loss	$ 964	$ 2,399