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Share Based Compensation - Additional Information (Details) - shares	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022
DSP Plan and 2017 Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Total shares issued under this plan	0	0	12,195	6,776
Restricted Stock \| Minimum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Options time-vest period	3 years		3 years
Restricted Stock \| Maximum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Options time-vest period	5 years		5 years
Restricted Stock \| 2017 Equity and Cash Incentive Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Restricted stock units granted	882		16,348
Restricted Stock Units
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Options time-vest period			3 years
Restricted Stock Units \| 2017 Equity and Cash Incentive Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Restricted stock units granted	9,693		28,946
Performance-Based Restricted Stock Units \| 2017 Cash Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Performance-based restricted stock units performance period	3 years		3 years
Performance-Based Restricted Stock Units \| 2017 Equity and Cash Incentive Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Restricted stock units granted			31,744