Stock Incentive Plan - Additional Information (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock plans, term	10 years
Maximum number of shares to be issued in stock incentive plan (in shares)	149,983
Common stock awarded in SI plan (in shares)	0
Unrecognized share-based compensation cost	$ 1.5	$ 2.6	$ 1.7
Stock Unit Awards and Stock Awards [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock awarded in SI plan (in shares)	45,986	63,150	48,575
Annual Awards
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Unrecognized compensation expense, period of recognition	4 years
Cumulative Awards
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Unrecognized compensation expense, period of recognition	3 years