Summary of Significant Accounting Policies - Investment in Unconsolidated Affiliate (Details) - VestaCare, Inc. - USD ($) $ in Millions	12 Months Ended
Dec. 31, 2017	Dec. 31, 2016	Dec. 31, 2023
Schedule of Equity Method Investments [Line Items]
Percentage of equity method investment		15.00%	15.00%
Payments to acquire equity method investments	$ 2.5	$ 2.5
VestaCare, Inc.
Schedule of Equity Method Investments [Line Items]
Voting interest		3.00%

Percentage of voting equity interests acquired at the acquisition date in the business combination.

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The percentage of ownership of common stock or equity participation in the investee accounted for under the equity method of accounting.

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