Leases - Additional Information (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Leases
Maximum lease agreement terms	11 years
Operating lease expense	$ 1.7	$ 2.6	$ 3.1
Selling, general and administrative expenses
Leases
Operating lease expense	$ 1.7	$ 2.6	$ 3.1