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Income Taxes - Additional Information (Details) - USD ($) | 12 Months Ended
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Dec. 31, 2019 | Dec. 31, 2018 | Dec. 31, 2017
Operating Loss Carryforwards [Line Items] |  |  |
Reductions due to expiry of statute of limitations, gross | $ 200,000 |  |
Reductions due to expiry of statute of limitations may be recognized by the end of 2019 | 100,000 |  |
Unrecognized tax benefits that would impact effective tax rate | 700,000 | $ 700,000 | $ 600,000
Unrecognized tax benefits, income tax penalties and interest expense | 0 | 0 | 0
Undistributed earnings of foreign subsidiaries | 47,200,000 | 62,400,000 | 59,000,000.0
Deferred tax liability not recognized, amount of unrecognized deferred tax liability, undistributed earnings of foreign subsidiaries | 700,000 | 600,000 | 300,000
Tax losses and tax credit carryforward, amount | 94,900,000 | 81,000,000.0 | 92,700,000
Tax losses and tax credit carryforward, valuation allowance | 14,900,000 | 15,000,000.0 | 15,000,000.0
U.K. |  |  |
Operating Loss Carryforwards [Line Items] |  |  |
Tax losses and tax credit carryforward, amount | 32,800,000 | 38,800,000 | 43,400,000
Tax losses and tax credit carryforward, valuation allowance | 2,800,000 | 4,100,000 | 4,600,000
Non-U.K. |  |  |
Operating Loss Carryforwards [Line Items] |  |  |
Tax losses and tax credit carryforward, amount | 62,100,000 | 42,200,000 | 49,300,000
Tax losses and tax credit carryforward, valuation allowance | 12,100,000 | $ 10,900,000 | $ 10,400,000
Tax Losses And Tax Credits Carryforward, Expire Between 2023 and 2034 |  |  |
Operating Loss Carryforwards [Line Items] |  |  |
Tax losses and tax credit carryforward, amount | 26,400,000 |  |
Tax Losses And Tax Credits Carryforward, Indefinite |  |  |
Operating Loss Carryforwards [Line Items] |  |  |
Tax losses and tax credit carryforward, amount | $ 68,500,000 |  |

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