Stock-Based Compensation - Stock-Based Compensation and Related Tax Benefit (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Total stock-based compensation expense	$ 6,025	$ 4,325	$ 3,890
Recognized tax benefit	(1,402)	(1,007)	(867)
Net expense recognized	4,623	3,318	3,023
Total employee stock-based compensation expense
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Total stock-based compensation expense	5,477	3,819	3,515
Restricted common share grant expense
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Total stock-based compensation expense	5,337	3,707	3,436
Employee stock purchase plan expense
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Total stock-based compensation expense	140	112	79
Non-employee directors
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Total stock-based compensation expense	$ 548	$ 506	$ 375