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Share-Based Compensation - Narrative (Details) - USD ($) | 12 Months Ended |
--- | --- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021 | 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 | $ 1,482,000 | 1,428,000 | 1,626,000 |
Recognition period of unrecognized cost | 6 months |  |  |
Aggregate intrinsic value of options outstanding at December 31, 2023 | $ 1,300,000 |  |  |
Options exercisable at December 31, 2023 | 1,000,000 |  |  |
Total unrecognized compensation cost related to non-vested stock option awards | $ 600,000 | 2,300,000 |  |
Minimum |  |  |  |
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] |  |  |  |
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 | 798,446 |  |  |
2007 Plan | Restricted Stock Awards And Restricted Stock Units |  |  |  |
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] |  |  |  |
Vested, shares | 2,260 | 3,709 | 3,174 |
Payments to employees | $ 100,000 | $ 100,000 | $ 100,000 |
Repurchase of common stock for employee tax withholding obligations amount | $ 1,500,000 | $ 1,400,000 | $ 1,600,000 |
Repurchase of common stock for employee tax withholding obligations amount, shares | 48,039 | 43,887 | 37,686 |
Unamortized cost | $ 7,200,000 |  |  |
Recognition period of unrecognized cost | 1 year 2 months 12 days |  |  |
Liabilities related to restricted stock | $ 0 | $ 100,000 |  |
2007 Plan | Performance-based restricted stock units |  |  |  |
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] |  |  |  |
Payments to employees |  | 400,000 |  |
Unamortized cost | $ 5,000,000 |  |  |
Recognition period of unrecognized cost | 1 year 8 months 12 days |  |  |
Liabilities related to restricted stock | $ 0 |  |  |
Paid to employees as shares |  | $ 0 | $ 0 |

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