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Income Taxes - Additional Information (Details) - USD ($)
 12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Income Tax Disclosure [Abstract]      
Net cash payments for income taxes $ 12,216,000 $ 16,996,000 $ 8,168,000
Change in tax rate, income tax expense     3,583,000
Valuation allowance, foreign     6,977,000
US tax reform - revaluation of deferred taxes     102,000
Release of transition tax of uncertain tax positions and adjustments     3,496,000
Estimated tax over book differences 89,510,000    
Loss carryforwards 23,033,000    
Unrecognized tax benefits, loss carryforwards 228,000    
Operating loss carryforwards, not subject to expiration 15,936,000    
Operating loss carryforwards, subject to expiration $ 7,097,000    
Operating loss carryforwards, expiration period 20 years    
Unrecognized tax benefits, interest on income taxes accrued $ 89,000 256,000 256,000
Unrecognized tax benefits that would impact effective tax rate $ 713,000 $ 1,940,000 $ 5,493,000