Share-Based Compensation - Narrative (Details) - USD ($)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	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	$ 1,482,000	1,428,000	1,626,000
Recognition period of unrecognized cost	6 months
Aggregate intrinsic value of options outstanding at December 31, 2023	$ 1,300,000
Options exercisable at December 31, 2023	1,000,000
Total unrecognized compensation cost related to non-vested stock option awards	$ 600,000	2,300,000
Minimum
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]
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	798,446
2007 Plan | Restricted Stock Awards And Restricted Stock Units
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]
Vested, shares	2,260	3,709	3,174
Payments to employees	$ 100,000	$ 100,000	$ 100,000
Repurchase of common stock for employee tax withholding obligations amount	$ 1,500,000	$ 1,400,000	$ 1,600,000
Repurchase of common stock for employee tax withholding obligations amount, shares	48,039	43,887	37,686
Unamortized cost	$ 7,200,000
Recognition period of unrecognized cost	1 year 2 months 12 days
Liabilities related to restricted stock	$ 0	$ 100,000
2007 Plan | Performance-based restricted stock units
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]
Payments to employees		400,000
Unamortized cost	$ 5,000,000
Recognition period of unrecognized cost	1 year 8 months 12 days
Liabilities related to restricted stock	$ 0
Paid to employees as shares		$ 0	$ 0