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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