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Summary of Significant Accounting Policies - Advertising Costs (Details)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
USD ($)
segment
Dec. 31, 2022
USD ($)
Dec. 31, 2021
USD ($)
New Accounting Pronouncements or Change in Accounting Principle [Line Items]      
Advertising costs $ 1,200 $ 1,500 $ 1,800
Number of operating segments | segment 1    
Gain on business interruption insurance recoveries $ 4,000 $ 0 $ 0
Restricted Stock Units, Non-Employee      
New Accounting Pronouncements or Change in Accounting Principle [Line Items]      
Service period 1 year    
Minimum | Stock Options And Restricted Stock Units, Employees      
New Accounting Pronouncements or Change in Accounting Principle [Line Items]      
Service period 3 years    
Maximum | Stock Options And Restricted Stock Units, Employees      
New Accounting Pronouncements or Change in Accounting Principle [Line Items]      
Service period 4 years