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Share-Based Compensation - Narrative (Details) - USD ($) | 12 Months Ended |
--- | --- | ---
Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020 | May 24, 2022
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] |  |  |  |
Common stock, capital shares reserved for future issuance |  |  |  | 840,000
Capitalized share-based compensation costs | $ 0 | $ 0 | $ 0 |
Repurchase of common stock for employee tax withholding obligations amount | $ 1,428,000 | 1,626,000 | 1,688,000 |
Recognition period of unrecognized cost | 1 year |  |  |
Total unrecognized compensation cost related to non-vested stock option awards | $ 2,300,000 | 1,400,000 |  |
Minimum [Member] |  |  |  |
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] |  |  |  |
Requisite service period | 1 year |  |  |
Maximum [Member] |  |  |  |
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] |  |  |  |
Share based compensation arrangement performance period | 3 years 4 months 24 days |  |  |
Requisite service period | 3 years |  |  |
Performance-based restricted stock units |  |  |  |
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] |  |  |  |
Vested, shares | 0 |  |  |
Restructuring Charges |  |  |  |
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] |  |  |  |
Share-based compensation before income tax benefit | $ 0 | $ 0 | $ 0 |
2017 Plan |  |  |  |
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] |  |  |  |
Useful Term of the plan | 10 years |  |  |
Registered number of shares |  |  |  | 2,590,000
Common stock shares issuable | 1,750,000 |  |  |
Shares available for grant | 1,202,763 |  |  |
2007 Plan | Restricted Stock Awards And Restricted Stock Units |  |  |  |
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] |  |  |  |
Vested, shares | 3,709 | 3,174 | 2,815 |
Payments to employees |  | $ 100,000 | $ 200,000 |
Repurchase of common stock for employee tax withholding obligations amount | $ 1,400,000 | $ 1,600,000 | $ 1,700,000 |
Repurchase of common stock for employee tax withholding obligations amount, shares | 43,887 | 37,686 | 42,185 |
Unamortized cost | $ 8,100,000 |  |  |
Recognition period of unrecognized cost | 1 year 3 months 18 days |  |  |
Liabilities related to restricted stock | $ 100,000 | $ 200,000 |  |
Paid to employees as shares |  |  | $ 2,000,000.0 |
2007 Plan | Performance-based restricted stock units |  |  |  |
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] |  |  |  |
Awards with grant date fair value during the period | 2,400,000 |  |  |
Payments to employees | 400,000 |  | 2,600,000 |
Unamortized cost | $ 1,600,000 |  |  |
Recognition period of unrecognized cost | 2 years |  |  |
Liabilities related to restricted stock | $ 0 | 700,000 |  |
Paid to employees as shares |  | $ 0 | $ 0 |

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- Definition Amount of expense for award under share-based payment arrangement. Excludes amount capitalized. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (h)(1)(i) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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