Income Tax Matters - Additional Information (Details) - USD ($)		12 Months Ended
	Dec. 20, 2021	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Tax Credit Carryforward [Line Items]
Net operating loss		$ 101,100,000
Operating loss expiration period		Dec. 31, 2030
Increase (decrease) in valuation allowance		$ (1,000,000)	$ (900,000)	$ (1,800,000)
Global minimum tax rate	15.00%
Gross unrecognized tax benefits		6,500,000	5,000,000	4,100,000	$ 3,800,000
Amount that would be reflected in income tax provision if unrecognized tax benefits are recognized		6,500,000
Accrued interest and penalties on unrecognized tax benefits		200,000	100,000
Accrued interest and penalties on unrecognized tax benefits, current		0	$ 0
(Decrease) increase in interest and penalties				$ 200,000
Research Tax Credit Carryforward
Tax Credit Carryforward [Line Items]
Tax credit carryforward		$ 17,400,000
Tax credit carryforward expiration period		Dec. 31, 2043
State Tax Credit Carryforwards
Tax Credit Carryforward [Line Items]
Tax credit carryforward		$ 1,500,000
Tax credit carryforward expiration period		Dec. 31, 2047