Income Taxes - Schedule of changes in accrued interest and penalties related to uncertain tax positions (Details) - USD ($)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Income Tax Disclosure [Abstract]
Unrecognized Tax Benefits, Income Tax Penalties and Interest Accrued	$ 689,000	$ 585,000	$ 920,000	$ 95,000
Unrecognized Tax Benefits, Income Tax Penalties and Interest Expense	104,000	(335,000)	69,000
Acquired unrecognized tax benefits, income tax penalties and interest accrued	$ 0	$ 0	$ 756,000