Stockholders' Equity - Rollforward of Common Stock (Details) - shares	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Increase (Decrease) in Stockholders' Equity
Beginning (in shares)	10,776,827
Repurchased common stock (in shares)	(134,208)
Ending (in shares)	10,733,935	10,776,827
Treasury
Increase (Decrease) in Stockholders' Equity
Beginning (in shares)	338,952	445,436
Issued for stock-based compensation plans (in shares)	(91,316)	(106,484)
Repurchased common stock (in shares)	134,208
Ending (in shares)	381,844	338,952
Common Stock
Increase (Decrease) in Stockholders' Equity
Beginning (in shares)	10,776,827	10,670,343
Issued for stock-based compensation plans (in shares)	91,316	106,484
Repurchased common stock (in shares)	(134,208)
Ending (in shares)	10,733,935	10,776,827