Stock-Based Compensation - Employee Stock Purchase Plan (Details) $ in Thousands		12 Months Ended
	Oct. 26, 2021 USD ($)	Dec. 31, 2023 USD ($) employee shares	Dec. 31, 2022 USD ($) employee shares	Dec. 31, 2021 USD ($) employee
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Total stock-based compensation expense		$ 11,962	$ 9,982	$ 10,657
Employee Stock Purchase Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Total stock-based compensation expense		$ 150	$ 191	$ 25
Employee Stock Purchase Plan | 2021 Stock Repurchase Program
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Maximum employee subscription rate	15.00%
Maximum employee subscription amount	$ 21,250
Purchase price discount	85.00%
Number of employees | employee		43	78	95
Number of shares purchased (in shares) | shares		25,441	22,909
Fair value of shares purchased		$ 522	$ 604
Expected contributions		374	$ 444
Total stock-based compensation expense		$ 107