Mezzanine Equity (Details) $ / shares in Units, $ in Thousands		3 Months Ended
	Apr. 01, 2020 USD ($) $ / shares shares	Mar. 31, 2024 USD ($) tradingDay $ / shares shares	Mar. 31, 2023 USD ($) shares	Dec. 31, 2023 USD ($)	Dec. 31, 2022 USD ($)
Temporary Equity [Line Items]
Proceeds from issuance of stock | $	$ 110,000
Carrying value of convertible preferred stock | $		$ 39,970		$ 39,959
Issuance of common stock as dividend on convertible preferred stock (in shares)		30,640
Convertible preferred stock, shares issued upon conversion (in shares)	2,622,177
Dividend rate, daily accrual basis, fiscal period		360 days
Preferred stock, dividend rate (percent)		5.50%
Preferred stock, dividend rate (in dollars per share) | $ / shares		$ 17.95
Trading days preceding date dividends are payable		10 days
Conversion price ratio denominator (in dollars per share) | $ / shares		$ 19.51
Conversion stock price trigger (in dollars per share) | $ / shares		$ 27.32
Threshold consecutive trading days | tradingDay		30
Common Stock
Temporary Equity [Line Items]
Stock issued during period shares new issues (in shares)	4,484,305
Shares issued price per share (in dollar per share) | $ / shares	$ 15.61
Issuance of common stock as dividend on convertible preferred stock (in shares)		30,640	30,640
Series A Convertible Preferred Stock
Temporary Equity [Line Items]
Stock issued during period shares new issues (in shares)	40,000
Shares issued price per share (in dollar per share) | $ / shares	$ 1,000
Proceeds from issuance of stock | $	$ 40,000
Carrying value of convertible preferred stock | $		$ 39,970	$ 39,925	$ 39,959	$ 39,914
Converted preferred stock (in shares)		0