Summary of Significant Accounting Policies - Additional Information (Details) - USD ($)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Summary Of Significant Accounting Policies [Line Items]
Unrecognized tax benefits, income tax penalties and interest expense	$ 0	$ 0	$ 0
Government grants	1,500,000	6,100,000
Goodwill carrying amount	52,426,000	52,426,000
Goodwill accumulated impairment losses	$ 0
Restricted Stock [Member]
Summary Of Significant Accounting Policies [Line Items]
Award vesting period	3 years
Total Shareholder Return Market-Based Awards and Performance Awards [Member]
Summary Of Significant Accounting Policies [Line Items]
Award vesting period	3 years
Dividend component liability, current	$ 2,200,000	$ 1,700,000
Total Shareholder Return Market-Based Awards and Performance Awards [Member] | Minimum [Member]
Summary Of Significant Accounting Policies [Line Items]
Common stock issued range, percent of the performance shares granted	0.00%
Total Shareholder Return Market-Based Awards and Performance Awards [Member] | Maximum [Member]
Summary Of Significant Accounting Policies [Line Items]
Common stock issued range, percent of the performance shares granted	200.00%