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Income Taxes - Additional Information (Details) - USD ($)
 12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Income Taxes [Line Items]        
Deferred tax assets valuation allowance reversed   $ 700,000 $ 500,000  
Deferred tax assets additional valuation allowance recorded $ 900,000      
Loss carryforwards 3,500,000 3,100,000    
Capital loss carryforward 5,900,000 5,700,000    
Tax credits 3,800,000 3,300,000    
Undistributed earnings of foreign subsidiaries 266,100,000      
Estimated unrecognized income tax and foreign tax liabilities related to undistributed earnings of foreign subsidiaries 4,000,000.0      
Unrecognized tax benefits 4,797,000 5,258,000 4,929,000 $ 4,725,000
Unrecognized tax benefits that will impact tax rate if recognized 4,600,000      
Unrecognized tax benefit income tax interest and penalties accrued 600,000 700,000    
Maximum        
Income Taxes [Line Items]        
Maximum unrecognized tax benefits expected to be recorded in next twelve months 500,000      
Unrecognized tax benefits, income tax penalties and interest expense (100,000) 200,000 $ 100,000  
UNITED STATES        
Income Taxes [Line Items]        
Loss carryforwards 600,000 $ 900,000    
Loss carryforwards indefinite amount 200,000      
Loss carryforwards remaining amount 400,000      
Operating loss carryforwards expiration year   2037    
Tax credits $ 2,600,000 $ 1,400,000    
UNITED STATES | Tax Credit That Will Expire In Certain Period        
Income Taxes [Line Items]        
Tax credits   $ 1,300,000    
Tax credits, expiration Year 2042 2035    
UNITED STATES | Tax Credits That Can Be Carried Forward Indefinitely        
Income Taxes [Line Items]        
Tax credits   $ 100,000    
UNITED STATES | Minimum        
Income Taxes [Line Items]        
Operating loss carryforwards expiration year 2022      
UNITED STATES | Maximum        
Income Taxes [Line Items]        
Operating loss carryforwards expiration year 2036      
CANADA        
Income Taxes [Line Items]        
Loss carryforwards $ 2,900,000 $ 2,100,000    
Operating loss carryforwards expiration year 2033 2033    
Capital loss carryforward $ 5,100,000 $ 5,100,000    
Tax credits 1,200,000 1,900,000    
CANADA | Tax Credit That Will Expire In Certain Period        
Income Taxes [Line Items]        
Tax credits $ 500,000 $ 1,200,000    
Tax credits, expiration Year 2022 2022    
CANADA | Tax Credits That Can Be Carried Forward Indefinitely        
Income Taxes [Line Items]        
Tax credits $ 700,000 $ 700,000    
UNITED KINGDOM        
Income Taxes [Line Items]        
Capital loss carryforward $ 800,000 $ 600,000