Employee Stock Purchase Plan (Details) - USD ($)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Shares available for grant	2,800,000
Employee Stock Purchase Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Maximum employee subscription rate	15.00%
Share-based Compensation Arrangement by Share-based Payment Award, Maximum Number of Shares Per Employee	2,500
Maximum employee subscription	$ 25,000
Purchase price of common stock, percent	85.00%
Issuance of common stock under Employee Stock Purchase Plan (Shares)	114,427	113,785	313,773
Proceeds from issuance of shares under incentive and share-based compensation plans, excluding stock options	$ 3,100,000	$ 3,000,000	$ 2,600,000
Shares available for grant	3,300,000
Stock-based compensation expense	$ 1,100,000	$ 1,200,000	$ 1,400,000
Risk free interest rate	5.10%	1.20%	0.80%
Dividend yield	1.80%	0.10%	0.30%
Volatility factor of the expected market price of the Company's common stock	53.60%	69.10%	106.10%
Expected life (in years)	6 months	6 months	6 months