Income Taxes - Narrative (Details) - USD ($)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Income Tax Disclosure [Abstract]
Effective tax rate	25.90%	23.40%	27.60%
Valuation allowance on foreign deferred tax assets, percent	1.00%
Nondeductible expenses associated with restructuring of infrastructure fund, percent	0.90%
Deferred tax asset related to a write-off of a foreign subsidiary, percent	0.80%
Operating Loss Carryforwards [Line Items]
Net operating loss carryforwards	$ 72,886,000	$ 69,634,000
Valuation allowance, amount	53,420,000	52,432,000
Unrecognized tax benefits	0	0
State Tax Net Operating Losses
Operating Loss Carryforwards [Line Items]
Valuation allowance, amount	$ 40,800,000	$ 43,700,000
Percent of deferred tax asset for which valuation allowance has been recognized	99.80%	99.60%
Foreign Tax Net Operating Losses
Operating Loss Carryforwards [Line Items]
Valuation allowance, amount	$ 12,600,000	$ 8,700,000
Percent of deferred tax asset for which valuation allowance has been recognized	39.50%	33.90%