Share-Based Compensation - Narrative (Details) - USD ($)	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020	May 24, 2022
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]
Common stock, capital shares reserved for future issuance				840,000
Capitalized share-based compensation costs	$ 0	$ 0	$ 0
Repurchase of common stock for employee tax withholding obligations amount	$ 1,428,000	1,626,000	1,688,000
Recognition period of unrecognized cost	1 year
Total unrecognized compensation cost related to non-vested stock option awards	$ 2,300,000	1,400,000
Minimum [Member]
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]
Requisite service period	1 year
Maximum [Member]
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]
Share based compensation arrangement performance period	3 years 4 months 24 days
Requisite service period	3 years
Performance-based restricted stock units
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]
Vested, shares	0
Restructuring Charges
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]
Share-based compensation before income tax benefit	$ 0	$ 0	$ 0
2017 Plan
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]
Useful Term of the plan	10 years
Registered number of shares				2,590,000
Common stock shares issuable	1,750,000
Shares available for grant	1,202,763
2007 Plan | Restricted Stock Awards And Restricted Stock Units
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]
Vested, shares	3,709	3,174	2,815
Payments to employees		$ 100,000	$ 200,000
Repurchase of common stock for employee tax withholding obligations amount	$ 1,400,000	$ 1,600,000	$ 1,700,000
Repurchase of common stock for employee tax withholding obligations amount, shares	43,887	37,686	42,185
Unamortized cost	$ 8,100,000
Recognition period of unrecognized cost	1 year 3 months 18 days
Liabilities related to restricted stock	$ 100,000	$ 200,000
Paid to employees as shares			$ 2,000,000.0
2007 Plan | Performance-based restricted stock units
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]
Awards with grant date fair value during the period	2,400,000
Payments to employees	400,000		2,600,000
Unamortized cost	$ 1,600,000
Recognition period of unrecognized cost	2 years
Liabilities related to restricted stock	$ 0	700,000
Paid to employees as shares		$ 0	$ 0