Description of Business and Summary of Significant Accounting Policies - Software Development Costs (Details) - USD ($)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Finite-Lived Intangible Assets [Line Items]
Research and development costs capitalized	$ 4,558,000	$ 7,060,000	$ 6,608,000
Research and development costs capitalized, amortization	7,711,000	6,626,000	7,020,000
Impairment charges	$ 1,835,000	$ 0	$ 0
Software and technology
Finite-Lived Intangible Assets [Line Items]
Estimated Useful Life	3 years