Stockholders' Equity - Schedule of Stock Option Activity (Details)	3 Months Ended	9 Months Ended
	Sep. 30, 2023 $ / shares shares	Sep. 30, 2023 $ / shares shares
Shares
Outstanding, ending balance (in shares) | shares	1,307,915	1,307,915
Options vested or expected to vest (in shares) | shares	1,307,915	1,307,915
Options exercisable, end of period (in shares) | shares	1,261,539	1,261,539
Weighted-Average Exercise Price, per Share
Outstanding, ending balance (in dollars per share) | $ / shares	$ 20.23	$ 20.23
Weighted-average exercise price, options vested or expected to vest (in dollars per share) | $ / shares	20.23	20.23
Weighted-average exercise price, options exercisable, end of period (in dollars per share) | $ / shares	$ 20.11	$ 20.11
Weighted-Average Remaining Contractual Term (years)
Outstanding		4 years 6 months 3 days
Options exercisable		4 years 5 months 1 day
Pioneer's Option Plans
Shares
Outstanding, beginning balance (in shares) | shares	156,095	170,711
Exercised (in shares) | shares	(22,972)	(32,107)
Forfeited (in shares) | shares	(1,044)	(6,525)
Outstanding, ending balance (in shares) | shares	132,079	132,079
Options vested or expected to vest (in shares) | shares	132,079	132,079
Options exercisable, end of period (in shares) | shares	132,079	132,079
Weighted-Average Exercise Price, per Share
Outstanding, beginning balance (in dollars per share) | $ / shares	$ 23.67	$ 23.19
Exercised (in dollars per share) | $ / shares	26.84	24.26
Forfeited (in dollars per share) | $ / shares	27.30	20.04
Outstanding, ending balance (in dollars per share) | $ / shares	23.09	23.09
Weighted-average exercise price, options vested or expected to vest (in dollars per share) | $ / shares	23.09	23.09
Weighted-average exercise price, options exercisable, end of period (in dollars per share) | $ / shares	$ 23.09	$ 23.09
Weighted-Average Remaining Contractual Term (years)
Outstanding	4 years 1 month 6 days	4 years 1 month 6 days
Options exercisable	4 years 1 month 6 days	4 years 1 month 6 days