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Income Taxes - Narrative (Details) - USD ($) | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Income Tax Disclosure [Abstract] |  |  |
Effective tax rate | 25.90% | 23.40% | 27.60%
Valuation allowance on foreign deferred tax assets, percent | 1.00% |  |
Nondeductible expenses associated with restructuring of infrastructure fund, percent | 0.90% |  |
Deferred tax asset related to a write-off of a foreign subsidiary, percent | 0.80% |  |
Operating Loss Carryforwards [Line Items] |  |  |
Net operating loss carryforwards | $ 72,886,000 | $ 69,634,000 |
Valuation allowance, amount | 53,420,000 | 52,432,000 |
Unrecognized tax benefits | 0 | 0 |
State Tax Net Operating Losses |  |  |
Operating Loss Carryforwards [Line Items] |  |  |
Valuation allowance, amount | $ 40,800,000 | $ 43,700,000 |
Percent of deferred tax asset for which valuation allowance has been recognized | 99.80% | 99.60% |
Foreign Tax Net Operating Losses |  |  |
Operating Loss Carryforwards [Line Items] |  |  |
Valuation allowance, amount | $ 12,600,000 | $ 8,700,000 |
Percent of deferred tax asset for which valuation allowance has been recognized | 39.50% | 33.90% |

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