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, 2022	Dec. 31, 2021
United States
Changes in benefit obligation:
Benefit obligation at beginning of year	$ 7,875	$ 8,448
Interest cost	194	172
Actuarial gain	(1,544)	(319)
Benefits paid	(424)	(426)
Benefit obligation at end of year	6,101	7,875
Change to plan assets:
Fair value of assets at beginning of year	4,767	4,459
Actual (loss) gain on plan assets	(1,007)	434
Employer contribution	456	300
Benefits paid	(424)	(426)
Fair value of assets at end of year	3,792	4,767
Funded status at end of year	(2,309)	(3,108)
Amounts recognized in the consolidated balance sheets consist of:
Other long-term liabilities	(2,309)	(3,108)
Amounts recognized in accumulated other comprehensive loss consist of:
Net (gain) loss	1,737	2,082
United Kingdom
Changes in benefit obligation:
Benefit obligation at beginning of year	9,135	10,265
Interest cost	135	109
Actuarial gain	(2,221)	(825)
Benefits paid	(1,424)	(302)
Foreign currency exchange rate changes	(954)	(112)
Benefit obligation at end of year	4,671	9,135
Change to plan assets:
Fair value of assets at beginning of year	8,409	7,975
Actual (loss) gain on plan assets	(742)	522
Employer contribution	319	336
Benefits paid	(1,363)	(338)
Foreign currency exchange rate changes	(878)	(86)
Fair value of assets at end of year	5,745	8,409
Funded status at end of year	1,074	(726)
Amounts recognized in the consolidated balance sheets consist of:
Other assets (long-term liabilities)	1,074
Other long-term liabilities		(726)
Amounts recognized in accumulated other comprehensive loss consist of:
Net (gain) loss	(1,425)	837
Prior service cost	90	127
Defined benefit plan, comprehensive (income) loss	$ (1,335)	$ 964