Derivatives - Fair Value of Derivative Instruments (Details) - USD ($) $ in Thousands	Sep. 30, 2023	Dec. 31, 2022
Designated as Hedging Instrument | 2018 Swap Agreement
Derivative in an Asset Position:
Derivative asset, fair value, gross asset	$ 0	$ 131
Derivative asset, notional amount	0	15,000
Designated as Hedging Instrument | Forward currency-exchange contract
Derivatives in a Liability Position:
Derivative liability, fair value, gross liability	(65)	(54)
Derivative liability, notional amount	430	430
Not Designated as Hedging Instrument | Forward currency-exchange contract
Derivative in an Asset Position:
Derivative asset, fair value, gross asset	0	15
Derivative asset, notional amount	0	647
Derivatives in a Liability Position:
Derivative liability, fair value, gross liability	(23)	0
Derivative liability, notional amount	$ 801	$ 0