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Financial Instruments and Concentration of Credit Risk - Narrative (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Fair Value Off Balance Sheet Risks Disclosure Information [Line Items]          
Interest rate swap expiration 2020-11        
Amounts reclassified from accumulated other comprehensive income, net of tax $ (352) $ 1,118 $ 1,242    
Concentration Risk Customer Accounts Receivable One of the most significant credit risks is the ultimate realization of accounts receivable. This risk is mitigated by (i) sales to well established companies, (ii) ongoing credit evaluation of customers, and (iii) frequent contact with customers, thus enabling management to monitor current changes in business operations and to respond accordingly. Management considers these concentrations of credit risks in establishing our allowance for doubtful accounts and believes these allowances are adequate. The Company had one customer whose gross accounts receivable exceeded 10% of total gross accounts receivable as of December 31, 2021.        
Interest Rate Swap [Member]          
Fair Value Off Balance Sheet Risks Disclosure Information [Line Items]          
Foreign currency exchange contract notional amount $ 129,400 $ 136,900     $ 155,300
Fixed interest rate 2.928% 2.928%     1.4935%
Gain on contract termination       $ 3,500  
Fair value of interest rate swap $ 4,300 $ 9,000      
Unrealized gain (loss) on interest rate swap (4,700) 2,700 3,300    
Unrealized gain (loss) on derivative, net of tax (3,500) 2,000 2,500    
Amounts classified from accumulated other comprehensive income   1,500 1,700    
Amounts reclassified from accumulated other comprehensive income, net of tax   $ 1,100 $ 1,200    
Forward Currency Exchange [Member]          
Fair Value Off Balance Sheet Risks Disclosure Information [Line Items]          
Foreign currency exchange contract notional amount 10,500        
Unrealized gain (loss) on interest rate swap 200        
Unrealized gain (loss) on derivative, net of tax 100        
Amounts classified from accumulated other comprehensive income $ 400        
One Customer [Member] | Customer Concentration Risk [Member] | Accounts Receivable [Member]          
Fair Value Off Balance Sheet Risks Disclosure Information [Line Items]          
Concentration risk, percentage 15.00%        
One Customer [Member] | Customer Concentration Risk [Member] | Maximum [Member] | Accounts Receivable [Member]          
Fair Value Off Balance Sheet Risks Disclosure Information [Line Items]          
Concentration risk, percentage 10.00%