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Stock-Based Compensation - Additional Information (Details) - USD ($)
$ / shares in Units, $ in Millions
3 Months Ended 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Mar. 31, 2020
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Restricted Stock              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Restricted stock granted (in shares)         288,677 166,768 176,382
Restricted stock, weighted average fair value         $ 4.2 $ 2.1 $ 2.8
Vesting period         2 years    
Nonemployee restricted stock award vest grant over period         1 year    
Granted (in dollars per share)         $ 14.60    
Shares tendered by employees to satisfy minimum statutory tax withholding obligations (in shares)         30,658    
Unrecognized compensation cost $ 1.1       $ 1.1    
Unrecognized compensation cost, recognition period         27 months    
Shares tendered by employees to satisfy minimum statutory tax withholding obligations (in shares)         52,088    
Restricted Stock | Executive Officer              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Vesting period         3 years    
Restricted Stock | Grant Date              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Restricted stock award, percentage vested on grant date         33.33%    
Restricted Stock | Grant Date | Executive Officer              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Restricted stock award, percentage vested on grant date         40.00%    
Restricted Stock | First Anniversary              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Restricted stock award, percentage vested on grant date         33.33%    
Restricted Stock | First Anniversary | Executive Officer              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Restricted stock award, percentage vested on grant date         20.00%    
Restricted Stock | Second Anniversary              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Restricted stock award, percentage vested on grant date         33.33%    
Restricted Stock | Second Anniversary | Executive Officer              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Restricted stock award, percentage vested on grant date         20.00%    
Restricted Stock | Third Anniversary | Executive Officer              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Restricted stock award, percentage vested on grant date         20.00%    
Restricted Stock Units (RSUs)              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Restricted stock granted (in shares) 0 5,760 10,842 10,600      
Vesting period         3 years    
Service period following expiration of performance period         2 years    
Granted (in dollars per share)   $ 15.19 $ 11.11 $ 18.08      
Shares tendered by employees to satisfy minimum statutory tax withholding obligations (in shares)   1,926 3,165 3,677      
Amended and Restated 2013 Equity Incentive Plan              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Aggregate shares of common stock permitted to be granted (in shares) 1,700,000       1,700,000    
Shares available for issuance (in shares) 398,110       398,110    
2013 Equity Incentive Plan              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Stock-based compensation         $ 3.8 $ 2.6 $ 2.9