Stockholders' Equity - Activities Under Equity Plan (Details) - shares		12 Months Ended
	Jul. 25, 2023	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Number of Shares Available for Grant [Roll Forward]
Plus: Additional shares available for issuance under the 2020 Equity Plan (in shares)	1,000,000
2012 Equity Plan
Number of Shares Available for Grant [Roll Forward]
Beginning balance, equity securities available (in shares)		683,052	990,129	1,699,314
Plus: Additional shares available for issuance under the 2020 Equity Plan (in shares)		1,000,000
Less: issuance of common stock in lieu of cash compensation (in shares)				(169,944)
Less: RSU, DSU, and restricted stock awarded to eligible employees, net of forfeitures (in shares)		(407,348)	(307,077)	(539,241)
Ending balance, equity securities available (in shares)		1,275,704	683,052	990,129