Common Stock and Preferred Stock - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 19, 2023	May 02, 2022	Dec. 31, 2021
Equity [Line Items]
Common stock, shares authorized	200,000,000	200,000,000			200,000,000
Common stock, par value	$ 0.001	$ 0.001
Common stock, shares issued	13,980,274	13,956,404
Treasury Stock, issued	9,428	0
Retirement of treasury stock	$ 5,559	$ 6,078
Increase in treasury stock resulting from shares withheld to cover statutory taxes	$ 1,992	5,200
Retirement of treasury stock, Shares	99,234
Treasury Stock, Value	$ 188	$ 0
Preferred stock, shares authorized	10,000,000	10,000,000
Preferred stock, par value	$ 0.001	$ 0.001
Preferred stock, shares issued	0	0
Preferred stock, shares outstanding	0	0
Stock Repurchase Program, Authorized Amount			$ 5,000	$ 5,000
Treasury Stock, Common, Shares	9,428	0
Stock Repurchase Program [Member]
Equity [Line Items]
Retirement of treasury stock, Shares	186,312	50,000
Related treasury stock cost	$ 3,567
Treasury Stock, Value	188
Treasury stock cost	$ 3,755	$ 878
Treasury Stock, Common, Shares	195,740	50,000
Common Stock
Equity [Line Items]
Vesting of restricted stock units, Shares	309,416	770,210
Treasury Stock
Equity [Line Items]
Increase in treasury stock resulting from shares withheld to cover statutory taxes, Shares	99,234	252,346
Increase in treasury stock resulting from shares withheld to cover statutory taxes	$ 1,992	$ 5,200
Retirement of treasury stock, Shares		252,346