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Restructuring and Impairment Activities - Additional Information (Details) - USD ($)
 3 Months Ended 6 Months Ended
Jun. 30, 2023
Sep. 30, 2022
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Restructuring Cost and Reserve [Line Items]          
Restructuring and impairment expense $ 500,000   $ 2,400,000 $ 1,300,000 $ 15,600,000
ATM          
Restructuring Cost and Reserve [Line Items]          
Restructuring and impairment expense 500,000   1,100,000 1,200,000 14,000,000
Proceeds from sale of assets   $ 4,600,000      
Loss from sale of assets   $ 400,000      
ATM | Appleton, Wisconsin Facility          
Restructuring Cost and Reserve [Line Items]          
Restructuring and impairment expense       1,000,000  
Restructuring charges 2,200,000     2,200,000  
Expected additional restructuring and impairment and restructuring related costs 1,000,000     1,000,000  
FBS          
Restructuring Cost and Reserve [Line Items]          
Restructuring and impairment expense 0   1,300,000 100,000 1,600,000
FBS | Winkler, Manitoba facility          
Restructuring Cost and Reserve [Line Items]          
Restructuring and impairment expense     1,100,000   1,400,000
Restructuring charges 2,400,000     2,400,000  
Corporate          
Restructuring Cost and Reserve [Line Items]          
Restructuring and impairment expense     $ 0   $ 0
Other restructuring charges $ 900,000     $ 1,100,000