Equity - Common Stock (Details) - USD ($)		3 Months Ended
	Apr. 01, 2024	Mar. 31, 2024	Mar. 31, 2023
Equity
Proceeds from common stock issued, net of issuance costs		$ 4,453,000	$ 1,777,000
Equity Distribution Agreements
Equity
Amount available under effective shelf registration statement		$ 71,509,000
Equity Distribution Agreements | Subsequent Event
Equity
Shares common stock sold	204,700
Proceeds from common stock issued, net of issuance costs	$ 6,522,000
Amount available under effective shelf registration statement	$ 64,905,000
Common Stock
Equity
Number of shares repurchased		49,540	41,350
Common Stock | Equity Distribution Agreements
Equity
Maximum offering capacity under shelf registration statement		$ 200,000,000
Shares common stock sold		139,100	48,500
Proceeds from common stock issued, net of issuance costs		$ 4,453,000	$ 1,777,000
Reclassification of accumulated costs to additional paid in capital		$ 116,000	$ 80,000
Common Stock | Equity Distribution Agreements | Subsequent Event
Equity
Shares common stock sold	204,700
Proceeds from common stock issued, net of issuance costs	$ 6,522,000
Reclassification of accumulated costs to additional paid in capital	$ 64,905,000