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Stockholders' Equity - Additional Information (Details) - USD ($) |  | 9 Months Ended |  |  |  |  |  |  |  |  |
--- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | ---
Jul. 25, 2023 | Sep. 30, 2023 | Sep. 30, 2022 | Oct. 25, 2023 | Jun. 30, 2023 | Mar. 31, 2023 | Dec. 31, 2022 | Jun. 30, 2022 | Mar. 31, 2022 | Feb. 16, 2022 | Dec. 31, 2021 | Jul. 28, 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |
Common stock authorized (in shares) |  | 75,000,000 |  |  |  |  |  |  |  |  |  |
Common stock par value (in usd per share) |  | $ 0.0001 |  |  |  |  |  |  |  |  |  |
Preferred stock authorized (in shares) |  | 25,000,000 |  |  |  |  |  |  |  |  |  |
Preferred stock par value (in usd per share) |  | $ 0.0001 |  |  |  |  |  |  |  |  |  |
Options outstanding (in shares) |  | 0 |  |  |  |  | 0 |  |  |  |  |
Preferred stock outstanding (in shares) |  | 0 |  |  |  |  | 0 |  |  |  |  |
Common stock repurchase program, authorized amount |  |  |  |  |  |  |  |  |  | $ 10,000,000 |  |
Shares reserved for future issuance (in shares) | 1,268,444 |  |  |  |  |  |  |  |  |  |  | 1,699,950
Additional shares available for issuance under the 2020 Equity Plan (in shares) | 1,000,000 |  |  |  |  |  |  |  |  |  |  |
Subsequent Event |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |
Dividend rate (in usd per share) |  |  |  | $ 0.3125 |  |  |  |  |  |  |  |
Dividends declared |  |  |  | $ 6,200,000 |  |  |  |  |  |  |  |
Unvested RSUs, DSUs and Restricted Stock |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |
Equity instruments other than options, nonvested (in shares) |  | 1,036,651 |  |  |  |  | 1,015,749 |  |  |  |  |
2012 Equity Plan | Contingent RSUs |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |
Equity instruments other than options, nonvested (in shares) |  | 533,494 |  |  |  |  |  |  |  |  |  |
2012 Equity Plan | Restricted Stock and Restricted Stock Units (RSUs) |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |
Compensation cost not yet recognized, share-based awards other than options |  | $ 3,500,000 |  |  |  |  |  |  |  |  |  |
Weighted-average period over which cost is expected to be recognized |  | 1 year 8 months 12 days |  |  |  |  |  |  |  |  |  |
2012 Equity Plan | Unvested RSUs, DSUs and Restricted Stock |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |
Additional shares available for issuance under the 2020 Equity Plan (in shares) |  | 1,000,000 |  |  |  |  |  |  |  |  |  |
2020 Equity Plan | Restricted Stock |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |
Vesting period |  | 1 year |  |  |  |  |  |  |  |  |  |
2020 Equity Plan | Contingent RSUs |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |
Vesting period |  | 3 years |  |  |  |  |  |  |  |  |  |
2020 Equity Plan | Non-contingent RSUs |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |
Vesting period |  | 3 years |  |  |  |  |  |  |  |  |  |
ESPP |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |
Shares reserved for future issuance (in shares) |  | 250,000 |  |  |  |  |  |  |  |  |  |
Award required holding period |  | 2 years |  |  |  |  |  |  |  |  |  |
Issuance of common stock under the employee stock purchase plan (in shares) |  | 12,558 | 0 |  |  |  |  |  |  |  |  |
ESPP | Maximum |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |
Offering period, maximum |  | 6 months |  |  |  |  |  |  |  |  |  |
Common Stock |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |
Common stock outstanding (in shares) |  | 19,972,478 | 19,693,657 |  | 19,962,062 | 19,941,852 | 19,703,800 | 19,693,657 | 19,693,679 |  | 19,481,429 |

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