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Stock Incentive Plan - Additional Information (Details) - USD ($) $ in Millions | 12 Months Ended
--- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |
Stock plans, term | 10 years |  |
Maximum number of shares to be issued in stock incentive plan (in shares) | 149,983 |  |
Common stock awarded in SI plan (in shares) | 0 |  |
Unrecognized share-based compensation cost | $ 1.5 | $ 2.6 | $ 1.7
Stock Unit Awards and Stock Awards [Member] |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |
Common stock awarded in SI plan (in shares) | 45,986 | 63,150 | 48,575
Annual Awards |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |
Unrecognized compensation expense, period of recognition | 4 years |  |
Cumulative Awards |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |
Unrecognized compensation expense, period of recognition | 3 years |  |

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