Mezzanine Equity (Details)		12 Months Ended
	Apr. 01, 2020 USD ($) $ / shares shares	Dec. 31, 2023 USD ($) d $ / shares shares	Dec. 31, 2022 USD ($)	Dec. 31, 2021 USD ($)	Dec. 31, 2020 USD ($)
Temporary Equity [Line Items]
Issuance of common stock, net	$ 110,000,000
Carrying value of convertible preferred stock		$ 39,959,000	$ 39,914,000
Temporary equity, dividends (in shares) | shares		30,640
Common stock issued upon conversion (in shares) | shares	2,622,177
Preferred stock, dividend rate		0.055%
Preferred stock, dividend (in dollars per share) | $ / shares		$ 17.95
Trading days | d		10
Conversion price ratio denominator		$ 19.51
Conversion stock price trigger (in dollars per share) | $ / shares		$ 27.32
Threshold consecutive trading days | d		30
Common Stock
Temporary Equity [Line Items]
Issuance of common stock, net (in shares) | shares	4,484,305
Shares issued, price per share (in dollars per share) | $ / shares	$ 15.61
Series A Convertible Preferred Stock
Temporary Equity [Line Items]
Issuance of common stock, net (in shares) | shares	40,000
Shares issued, price per share (in dollars per share) | $ / shares	$ 1,000
Issuance of common stock, net	$ 40,000,000
Carrying value of convertible preferred stock		$ 39,959,000	$ 39,914,000	$ 39,868,000	$ 39,823,000