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Income Taxes - Narrative (Details) - USD ($)
 3 Months Ended 12 Months Ended
Dec. 31, 2022
Sep. 30, 2022
Jun. 30, 2022
Mar. 31, 2022
Dec. 31, 2021
Sep. 30, 2021
Jun. 30, 2021
Mar. 31, 2021
Dec. 31, 2020
Sep. 30, 2020
Jun. 30, 2020
Mar. 31, 2020
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Operating Loss Carryforwards [Line Items]                                
Increase in income tax benefits are result of CARES Act                         $ 0 $ 0 $ 1,938,000  
Cash refunds of taxes paid in prior years as result of CARES Act                           4,900,000    
Deferred tax assets valuation allowance $ 7,787,000       $ 6,340,000               7,787,000 6,340,000    
Net decrease in valuation allowance                         100,000      
Unrecognized tax benefits 258,000       300,000       $ 347,000       258,000 300,000 347,000  
Unrecognized tax benefits that would favorably affect the effective tax rate, if recognized 300,000       300,000               300,000 300,000    
Expected decrease in unrecognized tax benefits within the next 12 months 100,000                       100,000      
Net income (loss) of foreign subsidiaries 2,842,000 $ 4,373,000 $ 4,643,000 $ (5,363,000) $ (94,000) $ 3,380,000 $ 5,937,000 $ (5,362,000) $ 181,000 $ 1,523,000 $ (2,656,000) $ (98,509,000) 6,499,000 3,860,000 (99,461,000)  
Recognized a deferred tax liability on undistributed international earnings (losses) of foreign subsidiaries 0                       0      
Unrecorded deferred tax liability related to undistributed international earnings 1,800,000                       1,800,000      
Federal                                
Operating Loss Carryforwards [Line Items]                                
Net operating losses 0                       0      
State                                
Operating Loss Carryforwards [Line Items]                                
Net operating losses 20,600,000                       20,600,000      
Net operating losses expiring from 2023 to 2040 6,600,000                       6,600,000      
Foreign                                
Operating Loss Carryforwards [Line Items]                                
Net operating losses 14,100,000                       14,100,000      
Net operating losses expiring from 2023 to 2040 $ 1,800,000                       1,800,000      
Net income (loss) of foreign subsidiaries                         $ 5,800,000 $ 3,700,000 $ (55,700,000)  
Foreign | Canadian Province of Alberta                                
Operating Loss Carryforwards [Line Items]                                
Favorable impact foreign in tax rate from revaluation of net deferred tax liabilities                               $ (1,900,000)