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Income Taxes - Schedule of changes in accrued interest and penalties related to uncertain tax positions (Details) - USD ($) | 12 Months Ended |
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Income Tax Disclosure [Abstract] |  |  |  |
Unrecognized Tax Benefits, Income Tax Penalties and Interest Accrued | $ 689,000 | $ 585,000 | $ 920,000 | $ 95,000
Unrecognized Tax Benefits, Income Tax Penalties and Interest Expense | 104,000 | (335,000) | 69,000 |
Acquired unrecognized tax benefits, income tax penalties and interest accrued | $ 0 | $ 0 | $ 756,000 |

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- Definition Amount accrued for interest on an underpayment of income taxes and penalties related to a tax position claimed or expected to be claimed in the tax return. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 740 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 15 -Subparagraph (c) -Publisher FASB -URI https://asc.fasb.org//1943274/2147482685/740-10-50-15 + Details
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- Definition Amount of expense for interest on an underpayment of income taxes and penalties related to a tax position claimed or expected to be claimed in the tax return. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 740 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 15 -Subparagraph (c) -Publisher FASB -URI https://asc.fasb.org//1943274/2147482685/740-10-50-15 + Details
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