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Stockholders' Equity - Additional Information (Details) - USD ($) $ / shares in Units, $ 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] |  |  |
Preferred Stock, Shares Authorized | 5,000,000 |  |
Preferred Stock, Par or Stated Value Per Share | $ 0.0001 |  |
Preferred Stock, Shares Issued | 0 |  |
Shares Available For Grant | 900,000 |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Nonvested, Number of Shares |  | 294,124 |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Exercise Price |  | $ 50.53 |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercisable, Weighted Average Remaining Contractual Term | 2 years 3 months 18 days | 3 years 3 months 18 days |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Vested and Expected to Vest, Exercisable, Aggregate Intrinsic Value | $ 0.0 |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Intrinsic Value |  | $ 0.0 |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercises in Period | 0 |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Forfeitures and Expirations in Period | (8,442) |  |
Share-based Compensation Arrangements by Share-based Payment Award, Options, Expirations in Period, Weighted Average Exercise Price | $ 50.73 |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercisable, Weighted Average Exercise Price | $ 50.53 |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Vested and Expected to Vest, Exercisable, Number | 285,682 |  |
Share based compensation awards vesting period | 3 years |  |
Unrecognized compensation costs | $ 12.0 |  |
Maximum |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Requisite service period of award | 3 years |  |
Equity Option [Member] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Terms of Award | ten years |  |
Performance Shares [Member] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Unrecognized compensation costs, expected weighted-average period to be recognized (in years) | 1 year 7 months 6 days |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Vested and Expected to Vest, Exercisable, Number | 211,944 |  |
Restricted Stock Units (RSUs) [Member] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Unrecognized compensation costs, expected weighted-average period to be recognized (in years) | 1 year 10 months 24 days |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Vested and Expected to Vest, Exercisable, Number | 177,804 |  |
Director |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Share based compensation expense | $ 0.9 | 0.9 | $ 1.1
Deferred compensation share-based arrangements, liability, classified, noncurrent | (5.9) | (5.2) |
Deferred Compensation Share-based Arrangements, Liability, Current | $ 0.2 | $ 0.1 |

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