Stock-Based Compensation - Outstanding Options and Exercisable Options Information by Range of Exercise Prices (Details)	12 Months Ended
	Dec. 31, 2023 $ / shares shares
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Options outstanding, number of shares (in shares) | shares	1,188,708
Options outstanding, average remaining contractual life	3 years 6 months 3 days
Options outstanding, weighted-average exercise price (in dollars per share)	$ 10.14
Options vested and exercisable, number of shares (in shares) | shares	1,188,708
Options vested and exercisable, weighted-average exercise price (in dollars per share)	$ 10.14
$3.24-$4.41
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Exercise price, lower limit (in dollars per share)	3.24
Exercise price, upper limit (in dollars per share)	$ 4.41
Options outstanding, number of shares (in shares) | shares	375,262
Options outstanding, average remaining contractual life	1 year 10 months 28 days
Options outstanding, weighted-average exercise price (in dollars per share)	$ 4.14
Options vested and exercisable, number of shares (in shares) | shares	375,262
Options vested and exercisable, weighted-average exercise price (in dollars per share)	$ 4.14
$4.42-$5.31
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Exercise price, lower limit (in dollars per share)	4.42
Exercise price, upper limit (in dollars per share)	$ 5.31
Options outstanding, number of shares (in shares) | shares	300,673
Options outstanding, average remaining contractual life	3 years 3 months 21 days
Options outstanding, weighted-average exercise price (in dollars per share)	$ 4.68
Options vested and exercisable, number of shares (in shares) | shares	300,673
Options vested and exercisable, weighted-average exercise price (in dollars per share)	$ 4.68
$5.32-$18.10
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Exercise price, lower limit (in dollars per share)	5.32
Exercise price, upper limit (in dollars per share)	$ 18.10
Options outstanding, number of shares (in shares) | shares	198,341
Options outstanding, average remaining contractual life	4 years 4 months 28 days
Options outstanding, weighted-average exercise price (in dollars per share)	$ 11.28
Options vested and exercisable, number of shares (in shares) | shares	198,341
Options vested and exercisable, weighted-average exercise price (in dollars per share)	$ 11.28
$18.11-$20.51
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Exercise price, lower limit (in dollars per share)	18.11
Exercise price, upper limit (in dollars per share)	$ 20.51
Options outstanding, number of shares (in shares) | shares	18,838
Options outstanding, average remaining contractual life	5 years 29 days
Options outstanding, weighted-average exercise price (in dollars per share)	$ 18.71
Options vested and exercisable, number of shares (in shares) | shares	18,838
Options vested and exercisable, weighted-average exercise price (in dollars per share)	$ 18.71
$20.52-$22.00
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Exercise price, lower limit (in dollars per share)	20.52
Exercise price, upper limit (in dollars per share)	$ 22.00
Options outstanding, number of shares (in shares) | shares	295,594
Options outstanding, average remaining contractual life	5 years 14 days
Options outstanding, weighted-average exercise price (in dollars per share)	$ 22.00
Options vested and exercisable, number of shares (in shares) | shares	295,594
Options vested and exercisable, weighted-average exercise price (in dollars per share)	$ 22.00