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Debt (Details)
 1 Months Ended 12 Months Ended
Nov. 30, 2023
USD ($)
installment
Dec. 31, 2023
USD ($)
Jan. 31, 2023
Nov. 30, 2022
USD ($)
installment
Dec. 31, 2023
USD ($)
Dec. 31, 2022
USD ($)
Apr. 30, 2022
USD ($)
Oct. 31, 2021
USD ($)
Debt Instrument [Line Items]                
Restricted cash, current   $ 4,100,000     $ 4,100,000      
Interest expense         3,792,000 $ 4,289,000    
AFCO Premium Credit LLC Insurance Premium Financing Agreement | Notes Payable, Other Payables                
Debt Instrument [Line Items]                
Interest rate, stated percentage (in percent) 7.00%     4.50%        
Debt instrument, face amount $ 1,200,000     $ 2,100,000        
Debt instrument, term (in months) 12 months     12 months        
Down payment $ 300,000     $ 500,000        
Long-term debt $ 900,000 900,000   $ 1,500,000 900,000      
Interest expense (less than)         100,000 100,000    
Periodic payment, number of quarterly installments | installment 3     3        
Revolving Credit Facility | City National Bank Revolving Credit Agreement | Line of Credit                
Debt Instrument [Line Items]                
Maximum borrowing capacity   $ 20,000,000     20,000,000   $ 30,000,000 $ 9,500,000
Unused line fee (in percent)   0.30%            
Commitment fee (in percent)   0.50%            
Commitment fee         100,000      
Commitment fee, payable term after each quarter   10 days            
Debt issuance cost   $ 5,000     5,000      
Unamortized debt issuance cost   100,000     100,000      
Outstanding balance   4,100,000     4,100,000      
Line of credit facility, remaining borrowing capacity   $ 15,900,000     $ 15,900,000      
Interest rate, stated percentage (in percent)   8.10%     8.10%      
Interest expense         $ 600,000 $ 200,000    
Revolving Credit Facility | City National Bank Revolving Credit Agreement | Line of Credit | SOFR                
Debt Instrument [Line Items]                
Basis spread on variable rate   2.75% 2.00%          
Revolving Credit Facility | City National Bank Revolving Credit Agreement | Line of Credit | Base Rate                
Debt Instrument [Line Items]                
Basis spread on variable rate     3.00%