Stock-Based Compensation - Stock Option Activity (Details) - $ / shares	12 Months Ended
Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Number of Shares
Beginning stock options outstanding (in shares)	303,329	724,704	922,615
Exercised (in shares)			(28,546)
Forfeited (in shares)	(70,465)	(421,375)	(169,365)
Ending stock options outstanding (in shares)	232,864	303,329	724,704
Weighted Average Exercise Price Per Share
Beginning stock options outstanding (in dollars per share)	$ 7.29	$ 7.41	$ 7.10
Exercised (in dollars per share)			3.86
Forfeited (in dollars per share)	7.74	7.49	6.32
Ending stock options outstanding (in dollars per share)	$ 7.15	$ 7.29	$ 7.41
Vested and expected to vest at December 31, 2022
Number of Shares	232,864
Weighted Average Exercise Price Per Share (in dollars per share)	$ 7.15
Weighted Average Contractual Life	3 years 25 days
Exercisable at December 31, 2022
Number of Shares	232,864
Weighted Average Exercise Price Per Share (in dollars per share)	$ 7.15
Weighted Average Contractual Life	3 years 25 days

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The number of shares into which fully or partially vested stock options outstanding as of the balance sheet date can be currently converted under the option plan.

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The weighted-average price as of the balance sheet date at which grantees can acquire the shares reserved for issuance on vested portions of options outstanding and currently exercisable under the stock option plan.

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The number of shares under options that were cancelled during the reporting period as a result of occurrence of a terminating event specified in contractual agreements pertaining to the stock option plan.

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Number of options outstanding, including both vested and non-vested options.

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A roll forward is a reconciliation of a concept from the beginning of a period to the end of a period.

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Weighted average price at which grantees can acquire the shares reserved for issuance under the stock option plan.

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Number of fully vested and expected to vest options outstanding that can be converted into shares under option plan. Includes, but is not limited to, unvested options for which requisite service period has not been rendered but that are expected to vest based on achievement of performance condition, if forfeitures are recognized when they occur.

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Weighted-average exercise price, at which grantee can acquire shares reserved for issuance, for fully vested and expected to vest options outstanding. Includes, but is not limited to, unvested options for which requisite service period has not been rendered but that are expected to vest based on achievement of performance condition, if forfeitures are recognized when they occur.

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Weighted average price at which option holders acquired shares when converting their stock options into shares.

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Weighted average price at which grantees could have acquired the underlying shares with respect to stock options that were terminated.

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Weighted average remaining contractual term for vested portions of options outstanding and currently exercisable or convertible, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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Weighted average remaining contractual term for fully vested and expected to vest options outstanding, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days. Includes, but is not limited to, unvested options for which requisite service period has not been rendered but that are expected to vest based on achievement of performance condition, if forfeitures are recognized when they occur.

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Number of share options (or share units) exercised during the current period.

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