Employee Stock Purchase and Stock Incentive Plans - Summary of Status of Stock Options Exercised, Including Substantive Options (Details) - $ / shares	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Number of shares
Outstanding, beginning balance (in shares)	10,030	14,927
Granted (in shares)	0	0
Exercised (in shares)	(4,897)	(4,897)
Expired or cancelled (in shares)	0	0
Outstanding, ending balance (in shares)	5,133	10,030
Weighted Average Exercise Price
Beginning balance (in dollars per share)	$ 5.99	$ 5.99
Granted (in dollars per share)	0	0
Exercised (in dollars per share)	5.97	5.97
Expired or cancelled (in dollars per share)	0	0
Ending balance (in dollars per share)	$ 6.02	$ 5.99