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Stockholders' Equity - Additional Information (Details) - USD ($) | 12 Months Ended |  |  |  |  |  |
--- | --- | --- | --- | --- | --- | --- | ---
Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020 | Feb. 22, 2023 | Feb. 28, 2022 | Sep. 02, 2021 | Jul. 28, 2020 | Jul. 25, 2016 | May 16, 2012
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Common stock authorized (in shares) | 75,000,000 | 75,000,000 |  |  |  |  |  |  |
Common stock par value (in usd per share) | $ 0.0001 | $ 0.0001 |  |  |  |  |  |  |
Preferred stock authorized (in shares) | 25,000,000 | 25,000,000 |  |  |  |  |  |  |
Preferred stock par value (in usd per share) | $ 0.0001 | $ 0.0001 |  |  |  |  |  |  |
Stock options outstanding (in shares) | 0 | 0 |  |  |  |  |  |  |
Common stock outstanding (in shares) | 20,076,578 | 19,828,033 |  |  |  |  |  |  |
Preferred stock outstanding (in shares) | 0 | 0 |  |  |  |  |  |  |
Number of Series A Junior Participating Preferred Stock shares attributable to each right (in shares) |  |  |  |  |  | 0.10 |  |  |
Dividends declared (in usd per share) | $ 1.25 | $ 0.50 | $ 0.50 |  |  |  |  |  |
Common stock repurchase program, authorized amount |  |  |  |  | $ 10,000,000 |  |  |  |
Shares reserved for future issuance (in shares) |  |  |  |  |  |  | 1,699,950 |  |
Common stock, share price (in usd per share) |  | $ 9.33 | $ 11.13 |  |  |  |  |  |
Issuance of common stock under the Employee Stock Purchase Plan |  | $ 132,000 | $ 300,000 |  |  |  |  |  |
Restricted Stock Units |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Granted (in shares) |  | 657,492 | 603,171 |  |  |  |  |  |
Granted (in usd per share) |  | $ 11.02 | $ 11.94 |  |  |  |  |  |
Fair value of shares vested |  | $ 3,800,000 | $ 3,700,000 |  |  |  |  |  |
2012 Equity Plan |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Equity securities granted (in shares) |  |  |  |  |  |  |  |  | 2,194,986
Shares reserved for future issuance (in shares) |  |  |  |  |  |  | 99,950 |  |
Granted (in shares) | 307,077 | 539,241 | 547,166 |  |  |  |  |  |
2012 Equity Plan | Restricted Stock |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Award vesting period | 1 year |  |  |  |  |  |  |  |
2012 Equity Plan | Contingent restricted stock units |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Award vesting period | 3 years |  |  |  |  |  |  |  |
2012 Equity Plan | Restricted Stock Units |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Award vesting period | 3 years |  |  |  |  |  |  |  |
2012 Equity Plan | Restricted Stock Units | Tranche One |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Award vesting percentage | 33.00% |  |  |  |  |  |  |  |
2012 Equity Plan | Restricted Stock Units | Tranche Two |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Award vesting percentage | 33.00% |  |  |  |  |  |  |  |
2012 Equity Plan | Restricted Stock Units | Tranche Three |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Award vesting percentage | 33.00% |  |  |  |  |  |  |  |
2020 Equity Plan |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Shares reserved for future issuance (in shares) |  |  |  |  |  |  | 1,600,000 |  |
2011 Long Term Incentive Plan | Restricted Stock and RSUs |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Compensation cost not yet recognized | $ 2,600,000 |  |  |  |  |  |  |  |
Compensation cost not yet recognized, period for recognition | 1 year 7 months 6 days |  |  |  |  |  |  |  |
2011 Long Term Incentive Plan | Contingent restricted stock units |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Unvested shares outstanding (in shares) | 356,896 |  |  |  |  |  |  |  |
ESPP |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Equity securities granted (in shares) |  |  |  |  |  |  |  | 250,000 |
Award required holding period | 2 years |  |  |  |  |  |  |  |
Issuance of common stock under the Employee Stock Purchase Plan (in shares) | 0 | 16,015 |  |  |  |  |  |  |
Issuance of common stock under the Employee Stock Purchase Plan |  | $ 100,000 |  |  |  |  |  |  |
ESPP | Maximum |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Offering period | 6 months |  |  |  |  |  |  |  |
Subsequent Event |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Dividend rate (in usd per share) |  |  |  | $ 0.3125 |  |  |  |  |
Dividends declared |  |  |  | $ 6,300,000 |  |  |  |  |

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