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Restructuring and Impairment Activities - Additional Information (Details) - USD ($) | 3 Months Ended
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Mar. 31, 2021 | Mar. 31, 2020
Restructuring Cost and Reserve [Line Items] |  |
Total restructuring and impairment expense | $ 300,000 | $ 100,000
Restructuring and impairment expense | 1,700,000 | 100,000
Facility Closing |  |
Restructuring Cost and Reserve [Line Items] |  |
Restructuring and related cost, expected cost remaining | 1,400,000 |
Severance |  |
Restructuring Cost and Reserve [Line Items] |  |
Restructuring and impairment expense | 300,000 | 100,000
EP |  |
Restructuring Cost and Reserve [Line Items] |  |
Total restructuring and impairment expense | 1,700,000 | 100,000
Restructuring charges cumulatively | 7,200,000 |
EP | Severance |  |
Restructuring Cost and Reserve [Line Items] |  |
Total restructuring and impairment expense | 300,000 | 100,000
AMS |  |
Restructuring Cost and Reserve [Line Items] |  |
Restructuring and impairment expense | $ 0 | $ 0

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