Consolidated Balance Sheets (Parenthetical) - $ / shares	Dec. 31, 2023	Dec. 31, 2022
Treasury stock, common, shares outstanding (in shares)	373,000	373,000
Class A Common Stock
Common stock, par value (in dollars per share)	$ 0.001	$ 0.001
Common stock authorized (in shares)	125,000,000	125,000,000
Common stock, shares, issued (in shares)	29,570,000	29,348,000
Class B Common Stock
Common stock, par value (in dollars per share)	$ 0.001	$ 0.001
Common stock authorized (in shares)	8,401,521	8,402,000
Common stock, shares, issued (in shares)	231,000	252,000
Common stock, shares outstanding (in shares)	231,000	252,000