Stock-Based Compensation - Schedule of Information Related to Stock Option Plan (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Cash received from option exercises	$ 888	$ 608	$ 89
2005 Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Intrinsic value of options exercised	86	113	231
Cash received from option exercises	128	128	64
Tax provision realized from option exercised	2	2	27
2010 Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Intrinsic value of options exercised	186	224	86
Cash received from option exercises	720	480	25
Tax provision realized from option exercised	(3)	0	0
2010 Plan | Restricted Stock Units
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Tax provision realized from option exercised	4	0	(85)
2021 Plan | Restricted Stock Units
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Tax provision realized from option exercised	$ (34)	$ 12	$ 0