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Costs Associated with Exit and Restructuring Activities -Additional Information (Details) - USD ($) | 3 Months Ended | 6 Months Ended | 33 Months Ended |  |
--- | --- | --- | --- | --- | ---
Jun. 30, 2023 | Jun. 30, 2022 | Jun. 30, 2023 | Jun. 30, 2022 | Jun. 30, 2023 | Dec. 31, 2022 | Sep. 30, 2020
Restructuring Cost And Reserve [Line Items] |  |  |  |  |  |  |
Restructuring charges | $ 1,895,000 | $ 630,000 | $ 2,807,000 | $ 942,000 |  |  |
Restructuring reserve | 424,000 |  | 424,000 |  | $ 424,000 | $ 869,000 |
Asset impairment charges | 1,324,000 |  | 1,324,000 |  |  |  |
September 2020 Plan |  |  |  |  |  |  |
Restructuring Cost And Reserve [Line Items] |  |  |  |  |  |  |
Restructuring charges |  |  |  |  | 3,767,000 |  |
Restructuring reserve | 49,000 |  | 49,000 |  | 49,000 | 634,000 |
Restructuring costs and asset impairment charges | 1,488,000 |  | 1,708,000 |  |  |  |
Asset impairment charges | 1,324,000 |  | 1,324,000 |  |  |  |
September 2020 Plan | Minimum |  |  |  |  |  |  |
Restructuring Cost And Reserve [Line Items] |  |  |  |  |  |  |
Restructuring and related cost, expected cost of plan | 1,500,000 |  | 1,500,000 |  | 1,500,000 |  | $ 3,500,000
September 2020 Plan | Maximum |  |  |  |  |  |  |
Restructuring Cost And Reserve [Line Items] |  |  |  |  |  |  |
Restructuring and related cost, expected cost of plan | 3,000,000 |  | 3,000,000 |  | 3,000,000 |  | $ 4,500,000
Exit and Disposal Activities, Building and Equipment Relocation and Workforce Reduction |  |  |  |  |  |  |
Restructuring Cost And Reserve [Line Items] |  |  |  |  |  |  |
Restructuring charges | 407,000 | $ 470 | 1,099,000 | $ 782,000 |  |  |
Restructuring reserve | 375,000 |  | 375,000 |  | $ 375,000 | $ 235,000 |
Restructuring costs | 151,000 |  | 253,000 |  |  |  |
Workforce Reduction | September 2020 Plan |  |  |  |  |  |  |
Restructuring Cost And Reserve [Line Items] |  |  |  |  |  |  |
Restructuring costs | $ 164,000 |  | 384,000 |  |  |  |
Shutdown |  |  |  |  |  |  |
Restructuring Cost And Reserve [Line Items] |  |  |  |  |  |  |
Restructuring charges |  |  | $ 83,000 |  |  |  |

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