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Retirement Plans - Schedule of Benefit Obligation, Fair Value of Assets, and Funded Status of the Plans (Details) - Pension Plan - USD ($) $ in Thousands | 12 Months Ended
--- | ---
Dec. 31, 2021 | Dec. 31, 2020
United States |  |
Change in benefit obligation |  |
Benefit obligation at beginning of year | $ 8,448 | $ 7,809
Interest cost | 172 | 224
Actuarial (gain) loss | (319) | 813
Benefits paid | (426) | (398)
Benefit obligation at end of year | 7,875 | 8,448
Change in plan asset |  |
Fair value of assets at beginning of year | 4,459 | 4,360
Actual gain on plan assets | 434 | 197
Employer contribution | 300 | 300
Benefits paid | (426) | (398)
Fair value of assets at end of year | 4,767 | 4,459
Funded status at end of year | (3,108) | (3,989)
Amount recognized in the consolidated balance sheet consists of: |  |
Other long-term liabilities | (3,108) | (3,989)
Amounts recognized in accumulated other comprehensive income consists of: |  |
Net loss | 2,082 | 2,686
United Kingdom |  |
Change in benefit obligation |  |
Benefit obligation at beginning of year | 10,265 | 9,101
Interest cost | 109 | 184
Actuarial (gain) loss | (825) | 996
Benefits paid | (302) | (283)
Foreign currency exchange rate changes | (112) | 267
Benefit obligation at end of year | 9,135 | 10,265
Change in plan asset |  |
Fair value of assets at beginning of year | 7,975 | 7,290
Actual gain on plan assets | 522 | 453
Employer contribution | 336 | 337
Benefits paid | (338) | (319)
Foreign currency exchange rate changes | (86) | 214
Fair value of assets at end of year | 8,409 | 7,975
Funded status at end of year | (726) | (2,290)
Amount recognized in the consolidated balance sheet consists of: |  |
Other long-term liabilities | (726) | (2,290)
Amounts recognized in accumulated other comprehensive income consists of: |  |
Net loss | 837 | 2,247
Prior service cost | 127 | 152
Defined benefit plan, comprehensive (income) loss | $ 964 | $ 2,399

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- Definition Amount, before tax, of accumulated other comprehensive income (loss) for gain (loss) of defined benefit plan, that has not been recognized in net periodic benefit (cost) credit. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 715 -SubTopic 20 -Section 50 -Paragraph 1 -Subparagraph (j) -URI http://asc.fasb.org/extlink&oid=123447040&loc=d3e1928-114920 Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 220 -SubTopic 10 -Section 45 -Paragraph 14A -URI http://asc.fasb.org/extlink&oid=124509347&loc=SL7669686-108580 + Details
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- Definition Amount, before tax, of accumulated other comprehensive (income) loss for cost (credit) of benefit change attributable to participants' prior service from plan amendment or plan initiation of defined benefit plan, that has not been recognized in net periodic benefit cost (credit). + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 715 -SubTopic 20 -Section 50 -Paragraph 1 -Subparagraph (j) -URI http://asc.fasb.org/extlink&oid=123447040&loc=d3e1928-114920 Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 220 -SubTopic 10 -Section 45 -Paragraph 14A -URI http://asc.fasb.org/extlink&oid=124509347&loc=SL7669686-108580 + Details
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- Definition Amount of increase (decrease) in plan assets of defined benefit plan from actual return (loss) determined by change in fair value of plan assets adjusted for contributions, benefit payments, and other expenses. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 715 -SubTopic 20 -Section 50 -Paragraph 1 -Subparagraph (b)(1) -URI http://asc.fasb.org/extlink&oid=123447040&loc=d3e1928-114920 Reference 2: http://www.xbrl.org/2003/role/exampleRef -Publisher FASB -Name Accounting Standards Codification -Topic 715 -SubTopic 20 -Section 55 -Paragraph 17 -URI http://asc.fasb.org/extlink&oid=123450688&loc=d3e4179-114921 + Details
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- Definition Amount of gain (loss) from change in actuarial assumptions which (increases) decreases benefit obligation of defined benefit plan. Assumptions include, but are not limited to, interest, mortality, employee turnover, salary, and temporary deviation from substantive plan. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 715 -SubTopic 20 -Section 50 -Paragraph 1 -Subparagraph (a)(4) -URI http://asc.fasb.org/extlink&oid=123447040&loc=d3e1928-114920 + Details
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- Definition Amount of payment to participant of defined benefit plan which decreases benefit obligation. For pension plan, payment includes, but is not limited to, pension benefits and death benefits. For other postretirement plan, payment includes, but is not limited to, prescription drug benefits, health care benefits, life insurance benefits, and legal, educational and advisory services. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 715 -SubTopic 20 -Section 50 -Paragraph 1 -Subparagraph (a)(6) -URI http://asc.fasb.org/extlink&oid=123447040&loc=d3e1928-114920 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 715 -SubTopic 60 -Section 50 -Paragraph 4 -URI http://asc.fasb.org/extlink&oid=6414203&loc=d3e39716-114964 + Details
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