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, 2023	Dec. 31, 2022
United States
Changes in benefit obligation:
Benefit obligation at beginning of year	$ 6,101	$ 7,875
Interest cost	286	194
Actuarial gain	(23)	(1,544)
Benefits paid	(455)	(424)
Benefit obligation at end of year	5,909	6,101
Change to plan assets:
Fair value of assets at beginning of year	3,792	4,767
Actual gain (loss) on plan assets	310	(1,007)
Employer contribution	276	456
Benefits paid	(455)	(424)
Fair value of assets at end of year	3,923	3,792
Funded status at end of year	(1,986)	(2,309)
Amounts recognized in accumulated other comprehensive loss consist of:
Net gain	1,598	1,737
United Kingdom
Changes in benefit obligation:
Benefit obligation at beginning of year	4,671	9,135
Interest cost	229	135
Actuarial gain	154	(2,221)
Benefits paid	(292)	(1,424)
Foreign currency exchange rate changes	249	(954)
Benefit obligation at end of year	5,011	4,671
Change to plan assets:
Fair value of assets at beginning of year	5,745	8,409
Actual gain (loss) on plan assets	323	(742)
Employer contribution	318	319
Benefits paid	(292)	(1,363)
Foreign currency exchange rate changes	305	(878)
Fair value of assets at end of year	6,399	5,745
Funded status at end of year	1,388	1,074
Amounts recognized in the consolidated balance sheets consist of:
Other assets	1,388	1,074
Amounts recognized in accumulated other comprehensive loss consist of:
Net gain	(567)	(1,425)
Prior service cost	71	90
Defined benefit plan, comprehensive (income) loss	$ (496)	$ (1,335)