Stock-Based Compensation - Additional Information (Details) - USD ($) $ / shares in Units, $ in Millions	3 Months Ended
Mar. 31, 2024	Dec. 31, 2023
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock par value	$ 0.001	$ 0.001
Forfeiture period after ending employment	90 days
Options exercised, intrinsic value	$ 1.2
Estimated grant date fair value of options vested	$ 1.1
Stock Options
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Award expiration period	10 years
Options granted	0
Total unrecognized compensation cost	$ 0.1
Compensation cost not yet recognized, period for recognition	3 months 18 days
Restricted Stock Awards
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Total unrecognized compensation cost	$ 7.0
Compensation cost not yet recognized, period for recognition	3 years 4 months 24 days
Outstanding balance	740,791	764,942
Shares issued	1,850
Shares vested	12,066
Performance Based Restricted Stock
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Outstanding balance	162,672
Vesting period	3 years
Performance Based Restricted Stock \| Minimum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Adjusted EBITDA percentage	0.00%
Performance Based Restricted Stock \| Maximum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Adjusted EBITDA percentage	200.00%
Non-Executives
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Forfeiture rate	10.00%
Executive Officer
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Forfeiture rate	0.00%

Fair value assumptions forfeiture rate

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Share-based Compensation Arrangement by Share-based Payment Award, Forfeiture Period after Ending Employment

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Face amount or stated value per share of common stock.

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Weighted-average period over which cost not yet recognized is expected to be recognized for award under share-based payment arrangement, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days.

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Amount of cost to be recognized for option under share-based payment arrangement.

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Amount of accumulated difference between fair value of underlying shares on dates of exercise and exercise price on options exercised (or share units converted) into shares.

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Gross number of share options (or share units) granted during the period.

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Period from grant date that an equity-based award expires, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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Fair value of options vested. Excludes equity instruments other than options, for example, but not limited to, share units, stock appreciation rights, restricted stock.

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