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Stock-Based Compensation - Performance-Based Stock Grants (Details)
 12 Months Ended
Sep. 23, 2020
shares
Dec. 31, 2023
USD ($)
$ / shares
shares
Dec. 31, 2022
USD ($)
$ / shares
shares
Dec. 31, 2021
USD ($)
$ / shares
shares
Dec. 31, 2020
$ / shares
shares
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Share based award vesting period   5 years      
Weighted-Average Grant-Date Fair Value          
Number of share to vest 0        
Shares          
Nonvested at the beginning of the period (in shares)   0 0 25,000 79,560
Granted (in shares)   135,456 98,921 94,654  
Vested (in shares)   (135,456) (123,921) (138,635)  
Forfeited or unearned (in shares)   0 0 (10,579)  
Nonvested at the end of the period (in shares)   0 0 25,000  
Nonvested at the beginning of the period, weighted-average grant-date fair value (in usd per share) | $ / shares   $ 0 $ 0 $ 7.23 $ 8.08
Granted, weighted-average grant-date fair value (in usd per share) | $ / shares   5.93 7.56 9.03  
Vested, weighted-average grant-date fair value (in usd per share) | $ / shares   5.93 7.49 8.91  
Forfeited or unearned, weighted-average grant-date fair value (in usd per share) | $ / shares   0 0 8.99  
Nonvested at the end of the period, weighted-average grant-date fair value (in usd per share) | $ / shares   $ 0 $ 0 $ 7.23  
Minimum          
Weighted-Average Grant-Date Fair Value          
Percentage of number of share earned of target share granted 50        
Maximum          
Weighted-Average Grant-Date Fair Value          
Percentage of number of share earned of target share granted 200        
Employee Stock Option | Class A Non-Voting          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Share based award vesting period   3 years      
Weighted-Average Grant-Date Fair Value          
Stock option vesting per year (percent)   33.00%      
Shares          
Share-based compensation expense | $   $ 12,000 $ 129,000 $ 375,000  
Unearned compensation cost | $   $ 0      
2019 Replacement Awards          
Weighted-Average Grant-Date Fair Value          
Stock option vesting per year (percent) 50.00%        
Percentage of stock units awards vested of targeted shares       200.00%  
Vesting date December 31, 2021        
Shares          
Vested (in shares)       (135,309)  
2019 Replacement Awards | Minimum          
Weighted-Average Grant-Date Fair Value          
Total shareholder return 10        
2020 Replacement Awards          
Weighted-Average Grant-Date Fair Value          
Stock option vesting per year (percent) 100.00%        
Vesting date December 31, 2022        
Shares          
Vested (in shares)     0    
2020 Replacement Awards | Minimum          
Weighted-Average Grant-Date Fair Value          
Total shareholder return 20        
Performance Stock Grants Excluded because Performance Conditions Have Not Been Met | Class A Non-Voting          
Shares          
Nonvested at the beginning of the period (in shares)   1,444,996 1,238,090 1,176,391 899,271
Granted (in shares)   1,236,598 939,980 935,825  
Vested (in shares)   (456,487) (363,514) (507,191)  
Forfeited or unearned (in shares)   (573,205) (514,767) (151,514)  
Nonvested at the end of the period (in shares)   1,444,996 1,238,090 1,176,391  
Nonvested at the beginning of the period, weighted-average grant-date fair value (in usd per share) | $ / shares   $ 6.12 $ 7.52 $ 8.25 $ 8.19
Granted, weighted-average grant-date fair value (in usd per share) | $ / shares   5.62 7.11 8.38  
Vested, weighted-average grant-date fair value (in usd per share) | $ / shares   6.9 7.84 8.85  
Forfeited or unearned, weighted-average grant-date fair value (in usd per share) | $ / shares   7.97 8.2 6.52  
Nonvested at the end of the period, weighted-average grant-date fair value (in usd per share) | $ / shares   $ 6.12 $ 7.52 $ 8.25  
Fair value of performance shares vested | $   $ 3,148,000 $ 2,849,000 $ 4,487,000  
Share-based compensation expense | $   4,212,000 $ 3,478,000 $ 5,712,000  
Unearned compensation cost | $   $ 3,956,000