Debt - Narrative (Details)			12 Months Ended	32 Months Ended
	Jun. 22, 2016 USD ($)	Jun. 17, 2016 payment	Dec. 31, 2023 USD ($)	May 31, 2020 amendment	Dec. 31, 2022 USD ($)	Dec. 31, 2021 USD ($)	Apr. 23, 2020 USD ($)
Debt Instrument [Line Items]
Number of times agreement was amended | amendment				10
Other long-term liabilities					$ 0	$ 1,179,000
Term Loan
Debt Instrument [Line Items]
Proceeds from borrowing under term loan	$ 20,000,000
Stated interest rate, percentage		8.51%
Number of monthly payments | payment		24
Long-term debt					4,681,000
Other long-term liabilities					1,200,000
Deferred finance costs					$ 100,000
Debt instrument effective rate					8.98%
Term Loan | Other Current Liabilities
Debt Instrument [Line Items]
Fee amount					$ 1,300,000
Term Loan | London Interbank Offered Rate (LIBOR)
Debt Instrument [Line Items]
Basis spread on variable rate, percentage		0.44%
Eleventh Amendment
Debt Instrument [Line Items]
Cash collateral for borrowed securities					5,000,000
Fee amount					$ 300,000
Eleventh Amendment | Forecast
Debt Instrument [Line Items]
Unrestricted net cash proceeds amount			$ 20,000,000
PPP Loan
Debt Instrument [Line Items]
Debt instrument, face amount							$ 700,000