Stockholders' Equity - Narrative (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Mar. 08, 2021
Class of Stock [Line Items]
Common stock, shares, issued (in shares)	19,775,041	19,729,923
Treasury stock (in shares)	5,571,004	5,573,529
Stock repurchase program, authorized amount				$ 75,000
Stock repurchase plan (in shares)			276,268
Stock repurchase			$ 39,994
Restricted Stock
Class of Stock [Line Items]
Shares surrendered by employees to pay employee taxes related to shares released from escrow (in shares)	10,565	7,486	5,432
Common Stock
Class of Stock [Line Items]
Exercise of stock options and restricted stock awards (in shares)	586,696