Summary of Significant Accounting Policies - Property and Equipment (Details) - USD ($) $ in Thousands	Dec. 31, 2021	Dec. 31, 2020
Property, Plant and Equipment [Line Items]
Property, plant and equipment at cost	$ 116,336	$ 120,018
Less: accumulated depreciation and amortization	(94,142)	(96,927)
Property, plant and equipment, net	22,194	23,091
Machinery and equipment
Property, Plant and Equipment [Line Items]
Property, plant and equipment at cost	87,028	91,984
Furniture and fixtures
Property, Plant and Equipment [Line Items]
Property, plant and equipment at cost	6,377	6,620
Leasehold improvements
Property, Plant and Equipment [Line Items]
Property, plant and equipment at cost	$ 22,931	$ 21,414