Goodwill and Intangible Assets - Additional Information (Details) - USD ($)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Finite-Lived Intangible Assets [Line Items]
Goodwill	$ 25,465,000	$ 25,465,000
Impairment charges related to intangible assets	0	0	$ 0
Impairment charges related to goodwill	0	0	0
Selling, General, and Administrative Expenses
Finite-Lived Intangible Assets [Line Items]
Amortization expense	$ 2,027,000	$ 2,904,000	$ 1,372,000