Stock-Based Compensation and Stock Awards - Schedule of Information for Stock Option Plans (Details) - $ / shares	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Number of securities to be issued upon exercise of outstanding options, warrants and rights (in shares)	406,581
Weighted- average exercise price of outstanding options, warrants and rights (in dollars per shares)	$ 26.99
Number of securities remaining available for future issuance under equity compensation plan (in shares)	634,997
Unvested stock and units (in shares)	609,831	579,804
Percentage of achievement of performance conditions	100.00%
Employee Stock Option | Stock options(Approved)
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Number of securities to be issued upon exercise of outstanding options, warrants and rights (in shares)	406,581
Weighted- average exercise price of outstanding options, warrants and rights (in dollars per shares)	$ 26.99
Number of securities remaining available for future issuance under equity compensation plan (in shares)	634,997
RSA and DSA [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Unvested stock and units (in shares)	687,705
Performance Unit Awards [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Unvested stock and units (in shares)	406,581	331,820