Income Taxes - Narrative (Details) - USD ($)	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Tax Credit Carryforward [Line Items]
Valuation allowance	$ 0	$ 0
Uncertain tax positions, interest and penalties	200,000	200,000	$ 300,000
Interest and penalties accrued	400,000	$ 200,000	$ 600,000
Internal Revenue Service (IRS)
Tax Credit Carryforward [Line Items]
Net operating loss	0
Internal Revenue Service (IRS) | Research Tax Credit Carryforward
Tax Credit Carryforward [Line Items]
Tax credit carryforward amount	0
State and Local Jurisdiction
Tax Credit Carryforward [Line Items]
Net operating loss	19,000,000
State and Local Jurisdiction | Research Tax Credit Carryforward
Tax Credit Carryforward [Line Items]
Tax credit carryforward amount	20,900,000
Foreign Tax Authority
Tax Credit Carryforward [Line Items]
Net operating loss	$ 22,300,000