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Restructuring and Impairment Activities - Additional Information (Details) - USD ($)
 3 Months Ended
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