Share Repurchase Program (Details) - USD ($)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2016
Equity, Class of Treasury Stock [Line Items]
Total number of shares repurchased (in shares)	0	0	0
Amount available under the share repurchase program	$ 44,000,000
2016 Repurchase Program
Equity, Class of Treasury Stock [Line Items]
Authorized share repurchased program amount				$ 100,000,000