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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