Acquired Intangible Assets - Narrative (Details) - USD ($)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Finite-Lived Intangible Assets [Line Items]
Goodwill	$ 17,309,000	$ 17,309,000	$ 14,262,000
Amortization of intangible assets	780,000	$ 680,000	$ 859,000
Amortization expense, next rolling twelve months	738,000
Amortization expense, rolling year two	730,000
Amortization expense, rolling year three	582,000
Amortization expense, rolling year four	262,000
Amortization expense, rolling year five	$ 253,000
Customer lists | Minimum
Finite-Lived Intangible Assets [Line Items]
Finite-lived, intangible assets, useful life	7 years
Customer lists | Maximum
Finite-Lived Intangible Assets [Line Items]
Finite-lived, intangible assets, useful life	10 years
Patent
Finite-Lived Intangible Assets [Line Items]
Finite-lived, intangible assets, useful life	18 years
Software | Minimum
Finite-Lived Intangible Assets [Line Items]
Finite-lived, intangible assets, useful life	3 years
Software | Maximum
Finite-Lived Intangible Assets [Line Items]
Finite-lived, intangible assets, useful life	7 years
Trade Name
Finite-Lived Intangible Assets [Line Items]
Finite-lived, intangible assets, useful life	20 years
Other
Finite-Lived Intangible Assets [Line Items]
Finite-lived, intangible assets, useful life	15 years