Stockholders' Equity - Employee Stock Purchase Plan, Secondary Offering & Share Purchase Plan (Details) - USD ($) $ / shares in Units, $ in Thousands	1 Months Ended	3 Months Ended		9 Months Ended
	May 31, 2022	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022	Feb. 28, 2022	Nov. 30, 2021
Secondary Offering
Proceeds from issuance of common stock				$ 681	$ 596
Treasury Stock, Value [Abstract]
Aggregate purchase price up to which shares can be acquired under share purchase program						$ 25,000	$ 25,000
Number of shares purchased and cancelled under share purchase program					277,200
Amount paid for shares purchased under share purchase program					$ 6,000
Amount paid for shares purchased and cancelled under share purchase program (per share)					$ 21.61
Amount remaining for purchase under share purchase program		$ 19,000		$ 19,000
Employee Stock Purchase Plan
Employee Stock Purchase Plan
Purchase price of stock	90.00%
Purchase in annual report period	30 days
Purchase of quarterly report period	30 days
Shares of common stock issued under the long-term incentive plan		6,218	9,943	12,538	9,943
Stock purchase price		$ 29.86	$ 17.44	$ 25.85	$ 17.44