Debt and Financing Arrangements - Summary of Recognized Interest Expense (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Debt Instrument [Line Items]
Total interest expense	$ 3,868	$ 4,983	$ 5,765
2018 credit facility
Debt Instrument [Line Items]
Total interest expense	3,843	4,919	5,672
Other line of credit
Debt Instrument [Line Items]
Total interest expense	0	1	22
Other
Debt Instrument [Line Items]
Total interest expense	$ 25	$ 63	$ 71