Stock-Based Compensation Expense - Stock Options (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Weighted-Average Exercise Price
Outstanding, intrinsic value	$ 49	$ 103	$ 405
Outstanding, Exercisable, Intrinsic Value	$ 37	$ 51
Stock Options
Outstanding Stock Options
Beginning (in shares)	716,255	735,895
Granted (in shares)	0	0
Exercised (in shares)	0	0
Forfeited and canceled (in shares)	(402,755)	(19,640)
Ending (in shares)	313,500	716,255	735,895
Exercisable at the end of period (in shares)	235,125	559,505
Weighted-Average Exercise Price
Beginning balance (in USD per share)	$ 19.83	$ 19.91
Granted (in USD per share)	0	0
Exercise (in USD per share)	0	0
Forfeited and canceled (in USD per share)	25.37	22.88
Ending balance (in USD per share)	12.70	19.83	$ 19.91
Exercisable at the end of period (in USD per share)	$ 12.70	$ 21.82
Weighted-Average Remaining Contractual Term (in years)	1 year 1 month 6 days	1 year 2 months 12 days	2 years 3 months 18 days
Weighted-Average remaining contractual term, outstanding exercisable	1 year 1 month 6 days	10 months 24 days

The number of shares into which fully or partially vested stock options outstanding as of the balance sheet date can be currently converted under the option plan.

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Period Type:	instant

- Definition

The weighted-average price as of the balance sheet date at which grantees can acquire the shares reserved for issuance on vested portions of options outstanding and currently exercisable under the stock option plan.