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Income Taxes - Narrative (Details) - USD ($)
 3 Months Ended
Mar. 31, 2024
Mar. 31, 2023
Dec. 31, 2023
Dec. 31, 2022
Operating Loss Carryforwards [Line Items]        
Increase in excess tax benefit, shared-based compensation and additional expenses $ 200,000      
Surrendered bank owned life insurance policy 500,000      
Surrender penalty 200,000      
Income tax expense (benefit) from stock-based compensation expense 1,500,000 $ 1,300,000    
Decrease in IRC 162(m) limitation (1,000,000)      
Decrease in state and local income taxes 500,000      
Deferred tax assets, valuation allowance 0 0    
Unrecognized tax benefits 13,489,000 12,348,000 $ 12,109,000 $ 11,178,000
Income tax penalties and interest accrued 1,400,000 $ 1,000,000    
State and Local Jurisdiction        
Operating Loss Carryforwards [Line Items]        
Operating loss carryforwards 108,100,000      
State and Local Jurisdiction | Tax Year 2026 - 2042        
Operating Loss Carryforwards [Line Items]        
Operating loss carryforwards 59,000,000      
State and Local Jurisdiction | Indefinitely        
Operating Loss Carryforwards [Line Items]        
Operating loss carryforwards 49,100,000      
Tax credit carryforwards 21,200,000      
State and Local Jurisdiction | Tax year 2023-2027        
Operating Loss Carryforwards [Line Items]        
Tax credit carryforwards 600,000      
Domestic Tax Authority        
Operating Loss Carryforwards [Line Items]        
Operating loss carryforwards $ 13,100,000      
Minimum | State and Local Jurisdiction | Internal Revenue Service (IRS)        
Operating Loss Carryforwards [Line Items]        
Income tax examination, period 4 years      
Maximum | State and Local Jurisdiction | Internal Revenue Service (IRS)        
Operating Loss Carryforwards [Line Items]        
Income tax examination, period 5 years