Stockholders' Equity - Narrative (Details) - USD ($)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Jan. 28, 2021
Class of Stock
Stock repurchase program, authorized amount				$ 30,000,000
Preferred stock, shares authorized (in shares)	50,000	50,000
Preferred stock, shares issued (in shares)	0	0
Preferred stock, shares outstanding (in shares)	0	0
Share Repurchase Program Authorized On January 28, 2021
Class of Stock
Common shares purchased under repurchase program (in shares)	107,219	263,183	0
Common shares purchased under repurchase program	$ 3,000,000	$ 7,400,000