Director Shares (Details) - Director - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Shares issued to directors	56,872	29,471	60,510
Stock-based compensation expense	$ 1.6	$ 1.5	$ 1.2