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Income Taxes - Additional Information (Details) - USD ($)
$ in Thousands
 1 Months Ended 11 Months Ended 12 Months Ended
Jan. 31, 2020
Dec. 31, 2020
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2019
Tax Credit Carryforward [Line Items]          
Effective tax rate 2.33% 19.29% 24.07% 35.57%  
U.S. statutory federal tax rate 21.00% 21.00% 21.00% 21.00%  
Income Tax Examination, Description     The Company is no longer subject to U.S. federal examinations by tax authorities for years before 2012, and state, local, and non-U.S. income tax examinations by tax authorities before 2005.    
Research and development tax credit carryforward, amount     $ 4,400 $ 5,000  
Research and development tax credit carryforward expiration year     2039    
Valuation allowance     $ (1,467) (2,367)  
Accumulated unremitted foreign earnings     69,200    
Unrecognized Tax Benefits $ 1,290 $ 1,341 $ 972 $ 1,399 $ 1,296