Stock-Based Compensation - Additional Information (Details) - 2020 Plan - RSUs - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Stock based compensation
Vested/Released number of shares withheld to satisfy employee statutory tax obligations (in shares)	379,576	379,576	379,576
Number of shares awarded (in shares)	479,000	551,000	532,000
Number of awards subject to time-based vesting (in shares)	877,231
Number of awards vesting upon achievement of performance goals (in shares)	374,299
Performance period	3 years
Vesting period	3 years
Transfer restrictions period	1 year
Unrecognized compensation expense	$ 13.9
Weighted average period for unrecognized compensation expense (in years)	1 year 1 month 2 days
Certain Executives and Key Employees
Stock based compensation
Number of shares awarded (in shares)	386,850
Number of awards subject to time-based vesting (in shares)	289,272
Number of awards vesting upon achievement of performance goals (in shares)	88,073
Performance period	3 years
Vesting period	3 years