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Stock Plans and Stock-Based Compensation - Narrative (Details)
12 Months Ended
Dec. 31, 2023
USD ($)
plan
purchase_period
$ / shares
shares
Dec. 31, 2022
USD ($)
$ / shares
shares
Deferred Compensation Arrangement with Individual, Share-based Payments [Line Items]    
Number of shareholder-approved, share-based compensation plans | plan 2  
Granted (in shares) 284,542  
Weighted average grant-date fair values of stock options (in dollars per share) | $ / shares $ 11.70 $ 42.80
Unrecognized compensation cost, including impact of estimated forfeitures | $ $ 8,000,000.0  
Weighted average period of when compensation expense is expected to be recognized 2 years 6 months  
Income tax benefit | $ $ 0 $ 0
Employee Stock Option    
Deferred Compensation Arrangement with Individual, Share-based Payments [Line Items]    
Vesting period (years) 4 years  
Awarded (in shares) 43,112  
Employee Stock Option | Award Vesting After First Year    
Deferred Compensation Arrangement with Individual, Share-based Payments [Line Items]    
Percentage of vested shares which are exercisable under stock option 25.00%  
Employee Stock Option | Quarterly Vesting After First Year    
Deferred Compensation Arrangement with Individual, Share-based Payments [Line Items]    
Percentage of vested shares which are exercisable under stock option 6.25%  
Restricted Stock    
Deferred Compensation Arrangement with Individual, Share-based Payments [Line Items]    
Awarded (in shares) 117,000  
Weighted average period of when compensation expense is expected to be recognized 1 year 4 months 24 days  
Outstanding shares (in shares) 110,500 0
Aggregate fair value of restricted stock | $ $ 2,100,000  
Compensation expense related to employee and director stock option grants | $ $ 1,400,000  
Restricted Stock | First Anniversary of Grant Date    
Deferred Compensation Arrangement with Individual, Share-based Payments [Line Items]    
Percentage of vested shares which are exercisable under stock option 50.00%  
Restricted Stock | Second Anniversary of Grant Date    
Deferred Compensation Arrangement with Individual, Share-based Payments [Line Items]    
Percentage of vested shares which are exercisable under stock option 50.00%  
Amended and Restated 2010 Stock Incentive Plan    
Deferred Compensation Arrangement with Individual, Share-based Payments [Line Items]    
Number of shares available for issue (up to) 1,159,500  
Period of time options are exercisable 10 years  
Number of shares under award to be removed from share pool (in shares) 289,912  
Amended and Restated 2010 Stock Incentive Plan | Stock Options, or Stock Appreciation Rights    
Deferred Compensation Arrangement with Individual, Share-based Payments [Line Items]    
Shares removed from available share pool (in shares) 1  
Amended and Restated 2010 Stock Incentive Plan | Restricted Stock, RSUs, Other Stock-Based Awards, or Performance Awards    
Deferred Compensation Arrangement with Individual, Share-based Payments [Line Items]    
Shares removed from available share pool (in shares) 1.3  
Price charged for award based on fair market value percentage (less than) 100.00%  
2010 Plan    
Deferred Compensation Arrangement with Individual, Share-based Payments [Line Items]    
Granted (in shares) 220,180  
2010 Plan | Employee Stock Option | Non-Employee Directors    
Deferred Compensation Arrangement with Individual, Share-based Payments [Line Items]    
Granted (in shares) 21,250  
Vesting period (years) 1 year  
2010 Plan | Employee Stock Option | Award Vesting After First Year    
Deferred Compensation Arrangement with Individual, Share-based Payments [Line Items]    
Percentage of vested shares which are exercisable under stock option 25.00%  
2010 Plan | Employee Stock Option | Quarterly Vesting After First Year    
Deferred Compensation Arrangement with Individual, Share-based Payments [Line Items]    
Percentage of vested shares which are exercisable under stock option 6.25%  
2010 Plan | Restricted Stock    
Deferred Compensation Arrangement with Individual, Share-based Payments [Line Items]    
Aggregate amount of granted restricted stock awards, or RSAs (in shares) 117,000  
2010 Employee Stock Purchase Plan    
Deferred Compensation Arrangement with Individual, Share-based Payments [Line Items]    
Shares issued under ESPP during period (in shares) 32,117  
Shares available for future purchase under ESPP (in shares) 26,631  
2010 Employee Stock Purchase Plan | Employee Stock Purchase Plan    
Deferred Compensation Arrangement with Individual, Share-based Payments [Line Items]    
Price charged for award based on fair market value percentage (less than) 85.00%  
Shares available under plan (in shares) 100,000  
Enrollment period 2 years  
Number of purchase periods per year | purchase_period 4  
Term of purchase periods 6 months