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Income Taxes - Narrative (Details) - USD ($) | 3 Months Ended | 12 Months Ended
--- | --- | ---
Dec. 31, 2023 | Sep. 30, 2023 | Jun. 30, 2023 | Mar. 31, 2023 | 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, 2023 | Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Operating Loss Carryforwards [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Increase in income tax benefits are result of CARES Act |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 1,900,000
Cash refunds of taxes paid in prior years as result of CARES Act |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 4,900,000 |
Deferred tax assets valuation allowance | $ 6,029,000 |  |  |  | $ 7,787,000 |  |  |  |  |  |  |  | $ 6,029,000 | $ 7,787,000 |  |
Net decrease in valuation allowance |  |  |  |  |  |  |  |  |  |  |  |  | 1,800,000 |  |  |
Unrecognized tax benefits | 258,000 |  |  |  | 258,000 |  |  |  | $ 300,000 |  |  |  | 258,000 | 258,000 | 300,000 |
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 | (2,514,000) | $ (10,298,000) | $ 337,000 | $ (4,986,000) | $ 2,842,000 | $ 4,373,000 | $ 4,643,000 | $ (5,363,000) | $ (94,000) | $ 3,380,000 | $ 5,937,000 | $ (5,362,000) | (17,453,000) | $ 6,499,000 | $ 3,860,000 |
Recognized a deferred tax liability on undistributed international earnings (losses) of foreign subsidiaries | 0 |  |  |  |  |  |  |  |  |  |  |  | 0 |  |  |
Unrecorded deferred tax liability related to undistributed international earnings | 1,500,000 |  |  |  |  |  |  |  |  |  |  |  | 1,500,000 |  |  |
Federal |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Operating Loss Carryforwards [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Net operating losses | 0 |  |  |  |  |  |  |  |  |  |  |  | 0 |  |  |
State |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Operating Loss Carryforwards [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Net operating losses | 10,400,000 |  |  |  |  |  |  |  |  |  |  |  | 10,400,000 |  |  |
Net operating losses expiring from 2023 to 2040 | 4,600,000 |  |  |  |  |  |  |  |  |  |  |  | 4,600,000 |  |  |
Foreign |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Operating Loss Carryforwards [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Net operating losses | 15,000,000 |  |  |  |  |  |  |  |  |  |  |  | 15,000,000 |  |  |
Net operating losses expiring from 2023 to 2040 | $ 2,800,000 |  |  |  |  |  |  |  |  |  |  |  | $ 2,800,000 |  |  |

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