Stock-Based Compensation - Additional Information (Details) - USD ($)				1 Months Ended						12 Months Ended
	Sep. 08, 2023	Dec. 24, 2020	Jan. 31, 2020	May 31, 2023	Jan. 31, 2023	May 31, 2022	Feb. 28, 2022	May 31, 2021	Jan. 31, 2021	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock options granted										5,464
Awards granted requisite service period										3 years
Description of compensation expense related to stock options										Compensation expense related to stock options is based on the fair value of the underlying stock on the award date and is recognized over the vesting period using the straight-line method.
Compensation expense related to the outstanding stock options granted										$ 3,900,000	$ 3,100,000
Amount of unrecognized compensation expense related to unvested stock options										$ 22,400
Weighted average period of unrecognized compensation expense related to unvested stock options										2 years 8 months 8 days
Number of shares of unvested stock options outstanding										5,464	261,667
Options, Exercised										37,500
Weighted Average Exercise Price, Exercised										$ 13
Exercise price of unvested stock options										$ 11.68	$ 12.89
Restricted stock awarded and earned stock compensation, shares					198,137		125,250		480,000
Shares issued pursuant to ESPP										167,123	74,009
Shares issued pursuant to ESPP										241,132
Treasury shares purchased										87,765	33,647
Treasury shares, average price per share										$ 9.81	$ 13.61
Restricted Stock Awards
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Awards granted requisite service period										3 years
Amount of unrecognized compensation expense related to unvested stock options										$ 3,700,000
Weighted average period of unrecognized compensation expense related to unvested stock options										1 year 8 months 23 days
Shares granted										229,766	156,465
Performance Stock Unit
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Shares granted					153,637		102,750
Number of share issued based on vesting eligibility based on performance range percentage original target							100.00%
Minimum | Performance Stock Unit
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of share issued based on vesting eligibility based on performance range percentage							0.00%
Maximum | Performance Stock Unit
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of share issued based on vesting eligibility based on performance range percentage							200.00%
Employee Stock Purchase Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Amount of unrecognized compensation expense related to unvested stock options										$ 3,800,000	$ 3,600,000
Percentage of purchase price											85.00%
Employee Stock Purchase Plan | Maximum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Percentage of payroll deduction											15.00%
Non-Employee Directors [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Restricted stock awarded and earned stock compensation, shares				31,629		31,215		26,511
2020 Omnibus Incentive Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares of authorized to grant										2,770,000
Stock options granted	5,464	12,500	782,500
Options, Exercised										37,500	0	0
Cash received from option exercised										$ 500,000
Weighted Average Exercise Price, Exercised										$ 13
Exercise price of unvested stock options	$ 11.68	$ 6.28
2020 Omnibus Incentive Plan | Performance Stock Unit
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Shares granted										153,637	102,750
2020 Omnibus Incentive Plan | Initial Public Offering
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Exercise price of unvested stock options			$ 13.00