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Income Taxes - Additional Information (Details) - USD ($)
 12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Income Tax [Line Items]        
Income tax expense $ 28,500,000 $ 30,200,000 $ 17,900,000  
Spain tax planning strategy benefit     $ 8,600,000  
Change excess tax benefits from stock compensation activity $ 1,900,000 $ 800,000    
Effective income tax rate 22.90% 21.80% 16.00%  
Income taxes paid $ 22,300,000 $ 25,700,000 $ 21,600,000  
Statutory federal income tax rate 21.00% 21.00% 21.00%  
Deferred tax asset, federal net operating loss carryforwards   $ 100,000    
Deferred tax asset, state net operating loss carryforwards $ 6,600,000 6,700,000    
Deferred tax asset, foreign net operating loss carryforwards 11,100,000 11,700,000    
Deferred tax asset, state tax tax credit carryforwards 200,000      
Deferred tax asset, U.S. foreign tax credits carryforwards 3,100,000 3,100,000    
Total deferred tax assets 69,500,000 66,600,000    
Valuation allowance 8,800,000 8,200,000    
Accrual for interest and penalties 400,000 400,000    
Reserves for unrecognized tax benefits, including interest and penalties 1,500,000 1,500,000    
Unrecognized tax benefits 1,200,000 1,300,000 $ 1,600,000 $ 1,900,000
Other Deferred Tax Assets        
Income Tax [Line Items]        
Valuation allowance 200,000      
U.S. state        
Income Tax [Line Items]        
Change in valuation allowance   800,000    
Valuation allowance 4,200,000      
U.S. federal | Foreign tax credit carryforward        
Income Tax [Line Items]        
Valuation allowance 3,100,000      
Foreign        
Income Tax [Line Items]        
Valuation allowance 1,300,000      
Deferred tax liabilities        
Income Tax [Line Items]        
Unrecognized tax benefits $ 100,000 $ 100,000