Leases - Schedule of Supplemental Cash Flows Information (Details) - USD ($)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Cash paid for amounts included in measurement of lease liabilities:
Operating cash flows from operating leases	$ 2,309,000	$ 2,703,000	$ 2,299,000
Right-of-use assets obtained in exchange for lease obligations:
Operating leases1	0	1,542,000	$ 0
Operating lease right-of-use assets (as reported)1	4,759,000	6,581,000
Operating lease liabilities - current	2,006,000	2,231,000
Less: tenant improvement allowance	0	(2,126,000)
Operating lease liabilities - current	2,006,000	105,000
Operating Lease, Liability, Noncurrent	6,543,000	8,428,000
Total	$ 8,549,000	$ 8,533,000