Fair Value Measurements - Additional Information (Details) - USD ($) $ / shares in Units, shares in Thousands, $ in Thousands	3 Months Ended	12 Months Ended
	Mar. 31, 2024	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]
Warrants term		2 years 10 months 24 days	2 years 10 months 24 days
Payments for Hedge, Investing Activities		$ 0	$ 0	$ 15,420
Long-term Debt, Fair Value		162,200	155,200
Debt, Long-Term and Short-Term, Combined Amount		153,279	$ 152,710
Proceeds From Derivative Instrument Operating Activities		$ 2,500
Shares, Issued		47,269	43,856	43,027	42,686
Shares issued for option exercises (in shares)				6
Maximum
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]
Preferred Stock Change In Control Put Feature Probability Percentage			10.00%
Minimum
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]
Preferred Stock Change In Control Put Feature Probability Percentage			3.00%
Series D Preferred Stock
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]
Class of warrant or right, exercise price of warrants or rights (in dollars per share)		$ 0.01
Class of warrant or right, number of securities called by warrants or rights (in shares)		1,900
Temporary Equity Liquidation Preference Percentage		140.00%
Series D Preferred Stock | Subsequent Event
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]
Share-Based Compensation Arrangement by Share-Based Payment Award, Non-Option Equity Instruments, Exercised	1,896
Series B Preferred Stock
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]
Class of warrant or right, exercise price of warrants or rights (in dollars per share)					$ 12.00
Class of warrant or right, number of securities called by warrants or rights (in shares)		1,500
Class Of Warrant Or Right Adjusted Exercise Price Of Warrants Or Rights		$ 11.03
Term Loan Facility
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]
Class of warrant or right, exercise price of warrants or rights (in dollars per share)		$ 0.01
Class of warrant or right, number of securities called by warrants or rights (in shares)		2,000
Interest Rate Swap
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]
AOCI, cash flow hedge, cumulative gain (loss), net of tax		$ 1,000	$ 3,100
Interest Rate Swap | July 22 2021
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]
Derivative, notional amount		$ 60,000
Derivative, fixed interest rate		1.291%
Interest Rate Swap | February 8, 2019
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]
Derivative, notional amount		$ 700,000
Derivative, fixed interest rate		2.4575%
Payments for Hedge, Investing Activities			$ 13,700