Significant Accounting Policies - Basic and Diluted Earnings Per Share (Details) - shares shares in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Weighted Average Number of Shares Outstanding Reconciliation [Abstract]
Weighted average shares outstanding used to compute basic earnings per share (in shares)	23,403	23,679	23,955
Incremental shares issuable upon the assumed exercise of stock options (in shares)	4	3	5
Unvested restricted stock and restricted stock units (in shares)	549	316	162
Shares used to compute diluted earnings per share (in shares)	23,956	23,998	24,122
Anti-dilutive shares excluded from the diluted earnings per share calculation (in shares)	174	114	324