Acquisition - Additional Information (Details) - USD ($)	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2023	Dec. 31, 2020
Business Acquisition [Line Items]
Business acquisition, purchase price		$ 2,450,000
Goodwill	$ 3,120,000	3,120,000		$ 1,651,000
Goodwill related to deferred tax assets	517,000	580,000
Maximum
Business Acquisition [Line Items]
Contingent consideration earn out payable		$ 4,000,000.0
Earn out cash payments	2,000,000.0
Maximum | Scenario Forecast
Business Acquisition [Line Items]
Earn out cash payments			$ 2,000,000.0
Fortress ID
Business Acquisition [Line Items]
Percentage of ownership control		100.00%
Business acquisition, purchase price		$ 3,400,000
Business acquisition, cash consideration		2,500,000
Business acquisition, earnout with fair value		900,000
Goodwill		1,469,000
Goodwill related to deferred tax assets		$ 300,000
Fortress ID | Maximum
Business Acquisition [Line Items]
Contingent consideration earn out payable	$ 2,000,000.0