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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 Taxes [Line Items]        
Federal corporate income tax rate 21.00% 21.00% 21.00% 35.00%
Deferred tax assets and liabilities income tax rate expected to reverse in future 26.40%      
Increase in deferred tax provision for income taxes, including adjustments to valuation allowances     $ 1,000,000.0  
Increase in valuation allowance $ 1,400,000      
Increase in cumulative foreign tax credit carryforward 1,400,000      
Income taxes provided for additional outside basis difference inherent in entities as result of reinvestment $ 100,000      
Operating loss carryforwards expiration term 20 years      
Deferred tax assets, valuation allowance $ 6,839,000 $ 5,374,000 5,112,000 $ 1,636,000
Valuation allowance, deferred tax asset, increase (decrease), amount 1,465,000 262,000 3,476,000  
Unrecognized tax benefits 811,000 0 $ 216,000 $ 820,000
Unrecognized tax benefits that would impact effective tax rate 800,000      
Unrecognized tax benefits, income tax penalties and interest accrued 100,000 0    
Amount of social security tax deferred payment due to CARES Act $ 20,900,000      
Percentage of social security tax payable in one year 50.00%      
International government subsidy payments received $ 3,000,000.0      
Earliest Tax Year | Internal Revenue Service (IRS)        
Income Taxes [Line Items]        
Open tax year 2017      
Earliest Tax Year | State and Foreign Jurisdictions        
Income Taxes [Line Items]        
Open tax year 2016      
Latest Tax Year | Internal Revenue Service (IRS)        
Income Taxes [Line Items]        
Open tax year 2019      
Latest Tax Year | State and Foreign Jurisdictions        
Income Taxes [Line Items]        
Open tax year 2019      
Foreign Tax Authority        
Income Taxes [Line Items]        
Operating loss carryforwards $ 2,500,000 2,500,000    
Deferred tax assets, valuation allowance 1,000,000.0 900,000    
Valuation allowance, deferred tax asset, increase (decrease), amount 5,800,000      
Domestic Tax Authority        
Income Taxes [Line Items]        
Operating loss carryforwards $ 7,800,000      
Net operating loss carryforwards, expiration year 2034      
State and Local Jurisdiction        
Income Taxes [Line Items]        
Tax credit carryforward, amount $ 2,700,000      
Deferred tax assets, tax credit carryforwards $ 2,108,000 $ 2,026,000    
State and Local Jurisdiction | Earliest Tax Year        
Income Taxes [Line Items]        
Tax credit carryforwards, expiration year 2021      
State and Local Jurisdiction | Latest Tax Year        
Income Taxes [Line Items]        
Tax credit carryforwards, expiration year 2029