Employee Benefit Plans and Stock-based Compensation - Options Exercise Prices (Details) shares in Thousands	12 Months Ended
	Dec. 31, 2023 $ / shares shares
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range
Options outstanding, shares (in shares) | shares	1,198
Weighted-average Exercise Price (in dollars per share)	$ 5.10
Weighted-average Remaining Contractual Life	4 years 1 month 2 days
Options Vested and Exercisable, Shares (in shares) | shares	1,198
Options Vested and Exercisable, Weighted-Average Exercise Price (in dollars per share)	$ 5.10
$ 2.14 - $ 2.14
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range
Range of exercise price, minimum (in dollars per share)	2.14
Range of exercise price, maximum (in dollars per share)	$ 2.14
Options outstanding, shares (in shares) | shares	8
Weighted-average Exercise Price (in dollars per share)	$ 2.14
Weighted-average Remaining Contractual Life	3 months 29 days
Options Vested and Exercisable, Shares (in shares) | shares	8
Options Vested and Exercisable, Weighted-Average Exercise Price (in dollars per share)	$ 2.14
$ 2.18 - $ 2.18
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range
Range of exercise price, minimum (in dollars per share)	2.18
Range of exercise price, maximum (in dollars per share)	$ 2.18
Options outstanding, shares (in shares) | shares	54
Weighted-average Exercise Price (in dollars per share)	$ 2.18
Weighted-average Remaining Contractual Life	1 year 10 months 2 days
Options Vested and Exercisable, Shares (in shares) | shares	54
Options Vested and Exercisable, Weighted-Average Exercise Price (in dollars per share)	$ 2.18
$ 2.47 - $2.47
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range
Range of exercise price, minimum (in dollars per share)	2.47
Range of exercise price, maximum (in dollars per share)	$ 2.47
Options outstanding, shares (in shares) | shares	15
Weighted-average Exercise Price (in dollars per share)	$ 2.47
Weighted-average Remaining Contractual Life	10 months 2 days
Options Vested and Exercisable, Shares (in shares) | shares	15
Options Vested and Exercisable, Weighted-Average Exercise Price (in dollars per share)	$ 2.47
$ 2.56 - $2.56
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range
Range of exercise price, minimum (in dollars per share)	2.56
Range of exercise price, maximum (in dollars per share)	$ 2.56
Options outstanding, shares (in shares) | shares	10
Weighted-average Exercise Price (in dollars per share)	$ 2.56
Weighted-average Remaining Contractual Life	2 years 3 days
Options Vested and Exercisable, Shares (in shares) | shares	10
Options Vested and Exercisable, Weighted-Average Exercise Price (in dollars per share)	$ 2.56
$ 3.06 - $3.06
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range
Range of exercise price, minimum (in dollars per share)	3.06
Range of exercise price, maximum (in dollars per share)	$ 3.06
Options outstanding, shares (in shares) | shares	330
Weighted-average Exercise Price (in dollars per share)	$ 3.06
Weighted-average Remaining Contractual Life	5 years 10 months 6 days
Options Vested and Exercisable, Shares (in shares) | shares	330
Options Vested and Exercisable, Weighted-Average Exercise Price (in dollars per share)	$ 3.06
$ 5.21 - $5.21
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range
Range of exercise price, minimum (in dollars per share)	5.21
Range of exercise price, maximum (in dollars per share)	$ 5.21
Options outstanding, shares (in shares) | shares	352
Weighted-average Exercise Price (in dollars per share)	$ 5.21
Weighted-average Remaining Contractual Life	2 years 9 months 25 days
Options Vested and Exercisable, Shares (in shares) | shares	352
Options Vested and Exercisable, Weighted-Average Exercise Price (in dollars per share)	$ 5.21
$ 5.77 - $5.77
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range
Range of exercise price, minimum (in dollars per share)	5.77
Range of exercise price, maximum (in dollars per share)	$ 5.77
Options outstanding, shares (in shares) | shares	245
Weighted-average Exercise Price (in dollars per share)	$ 5.77
Weighted-average Remaining Contractual Life	4 years 10 months 6 days
Options Vested and Exercisable, Shares (in shares) | shares	245
Options Vested and Exercisable, Weighted-Average Exercise Price (in dollars per share)	$ 5.77
$ 7.95 - $7.95
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range
Range of exercise price, minimum (in dollars per share)	7.95
Range of exercise price, maximum (in dollars per share)	$ 7.95
Options outstanding, shares (in shares) | shares	60
Weighted-average Exercise Price (in dollars per share)	$ 7.95
Weighted-average Remaining Contractual Life	3 years 29 days
Options Vested and Exercisable, Shares (in shares) | shares	60
Options Vested and Exercisable, Weighted-Average Exercise Price (in dollars per share)	$ 7.95
$ 9.50 - $9.50
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range
Range of exercise price, minimum (in dollars per share)	9.50
Range of exercise price, maximum (in dollars per share)	$ 9.50
Options outstanding, shares (in shares) | shares	124
Weighted-average Exercise Price (in dollars per share)	$ 9.50
Weighted-average Remaining Contractual Life	3 years 9 months 25 days
Options Vested and Exercisable, Shares (in shares) | shares	124
Options Vested and Exercisable, Weighted-Average Exercise Price (in dollars per share)	$ 9.50