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Employee Benefit Plans and Stock-based Compensation - Performance Shares (Details) - USD ($)
$ / shares in Units, $ in Millions
1 Months Ended 12 Months Ended
Feb. 20, 2024
Mar. 15, 2023
Feb. 14, 2023
Mar. 14, 2022
Feb. 15, 2022
Feb. 17, 2021
Mar. 31, 2023
Feb. 28, 2022
Feb. 28, 2021
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Performance Shares                        
Shares                        
Non-vested, beginning of period (in shares)                   76,000 152,000  
Granted (in shares)                   13,000 74,000  
Vested (in shares)                   (38,000) (76,000)  
Forfeited (in shares)                   (13,000) (74,000)  
Non-vested, end of period (in shares)                   38,000 76,000 152,000
Weighted Average Grant Date Fair Value                        
Non-vested, beginning of period (in dollars per share)                   $ 15.37 $ 15.37  
Granted (in dollars per share)                   3.71 7.83  
Vested (in dollars per share)                   15.37 15.37  
Forfeited (in dollars per share)                   3.71 7.83  
Non-vested, end of period (in dollars per share)                   $ 15.37 $ 15.37 $ 15.37
Weighted-average grant date fair value of stock options granted (in dollars per share)             $ 3.71 $ 7.83 $ 15.37      
Percentage of performance target cap of award 100.00% 100.00%                    
Percentage of year-over-year annual revenue growth rate     2.70% 44.00%                
Shares eligible to vest 0   0                  
Percentage of targeted financial performance                   150.00%    
Unrecognized compensation expense related to restricted stock awards                   $ 0.1    
Weighted-average remaining contractual terms                   10 months 6 days    
Performance Shares | Minimum | Scenario Performance Financial Metric Less Than 50%                        
Weighted Average Grant Date Fair Value                        
Percentage of targeted financial performance         50.00%              
Performance Shares | Minimum | Scenario Performance Financial Metric is Between 50% to 200%                        
Weighted Average Grant Date Fair Value                        
Percentage of targeted financial performance         50.00%              
Performance Shares | Maximum | Scenario Performance Financial Metric is Between 50% to 200%                        
Weighted Average Grant Date Fair Value                        
Percentage of targeted financial performance         200.00%              
Performance Shares | Maximum | Scenario Performance Financial Metric Greater Than 200%                        
Weighted Average Grant Date Fair Value                        
Percentage of targeted financial performance         200.00%              
Performance Shares | First Anniversary                        
Shares                        
Vested (in shares)                   0    
Weighted Average Grant Date Fair Value                        
Vesting period                   4 years    
Performance Shares | Chief Executive Officer                        
Weighted Average Grant Date Fair Value                        
Stock options grants in period 223,590 223,590       113,130            
Performance Shares | Chief Executive Officer | Scenario Performance Minimum Financial Metric                        
Weighted Average Grant Date Fair Value                        
Share options vested in period 223,590 223,590                    
Performance Shares | Chief Executive Officer | Scenario Performance Financial Metric Less Than 50%                        
Weighted Average Grant Date Fair Value                        
Stock options grants in period         114,320              
Performance Shares | Chief Executive Officer | Scenario Performance Financial Metric is Between 50% to 200%                        
Weighted Average Grant Date Fair Value                        
Stock options grants in period         114,320              
Performance Shares | Chief Executive Officer | Scenario Performance Financial Metric Greater Than 200%                        
Weighted Average Grant Date Fair Value                        
Stock options grants in period         114,320              
Performance Shares | Chief Financial Officer                        
Weighted Average Grant Date Fair Value                        
Stock options grants in period 77,600 77,600       38,475            
Performance Shares | Chief Financial Officer | Scenario Performance Minimum Financial Metric                        
Weighted Average Grant Date Fair Value                        
Share options vested in period 77,600 77,600                    
Performance Shares | Chief Financial Officer | Scenario Performance Financial Metric Less Than 50%                        
Weighted Average Grant Date Fair Value                        
Stock options grants in period         32,100              
Performance Shares | Chief Financial Officer | Scenario Performance Financial Metric is Between 50% to 200%                        
Weighted Average Grant Date Fair Value                        
Stock options grants in period         32,100              
Performance Shares | Chief Financial Officer | Scenario Performance Financial Metric Greater Than 200%                        
Weighted Average Grant Date Fair Value                        
Stock options grants in period         32,100              
Employee Stock Option [Member]                        
Weighted Average Grant Date Fair Value                        
Stock options grants in period                   0 0 0