Summary of Significant Accounting Policies - Narrative (Details)	3 Months Ended		6 Months Ended
	Jun. 30, 2024 USD ($)	Jun. 30, 2023 USD ($)	Jun. 30, 2024 USD ($) reporting_unit	Jun. 30, 2023 USD ($)	Dec. 31, 2023 USD ($)
Related Party Transaction [Line Items]
Number of operating segments (in reporting units) | reporting_unit			1
Number of reportable segments (in reporting units) | reporting_unit			1
Deferred costs and other assets	$ 8,200,000		$ 8,200,000		$ 8,800,000
Deferred commission	3,100,000		3,100,000		2,600,000
Life insurance balance	3,300,000		3,300,000		3,300,000
Deferred compensation liability	300,000		300,000		400,000
Proceeds from insurance settlement			0	$ 500,000
Developed Technology Rights | Director
Related Party Transaction [Line Items]
Accounts Payable	0		0		$ 0
Master Development Agreement | Director
Related Party Transaction [Line Items]
Amount paid for services to act III management	$ 0	$ 100,000	$ 0	$ 100,000