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Borrowings - Term Loan (Details) - USD ($) | 9 Months Ended |  |  |
--- | --- | --- | --- | ---
Sep. 30, 2023 | Dec. 31, 2022 | Apr. 30, 2022 | May 28, 2021
Short-Term Debt [Line Items] |  |  |  |
Long-term debt | $ 21,000,000 | $ 30,000,000 |  |
Term Loan |  |  |  |
Short-Term Debt [Line Items] |  |  |  |
Issuance of debt |  |  |  | $ 60,000,000
Long-term debt | 21,000,000 | $ 30,000,000 |  |
Revolving Credit Facility |  |  |  |
Short-Term Debt [Line Items] |  |  |  |
Issuance of debt |  |  |  | $ 40,000,000
Quarterly payments on the term loan reduce the outstanding principal balance, amount | 3,000,000 |  |  |
Second Amended and Restated Credit Agreement | Term Loan |  |  |  |
Short-Term Debt [Line Items] |  |  |  |
Long-term debt | 33,000,000 |  |  |
Long-term debt, current | 12,000,000 |  |  |
Long term debt, noncurrent | 21,000,000 |  |  |
Second Amended and Restated Credit Agreement | Revolving Credit Facility |  |  |  |
Short-Term Debt [Line Items] |  |  |  |
Balance outstanding | $ 0 |  |  |
Second Amended and Restated Credit Agreement | One-month LIBOR rate | Term Loan |  |  |  |
Short-Term Debt [Line Items] |  |  |  |
Interest rate |  |  |  | 1.75%
Third Amendment To Extend Credit Facility | SOFR-indexed interest rate | Term Loan |  |  |  |
Short-Term Debt [Line Items] |  |  |  |
Interest rate |  |  | 1.80% |

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