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Capital Transactions - Narrative (Details) |  | 3 Months Ended | 9 Months Ended | 12 Months Ended |  |  |  |
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May 05, 2021 shares | Sep. 30, 2023 USD ($) shares | Jun. 30, 2023 USD ($) | Mar. 31, 2023 USD ($) | Sep. 30, 2022 USD ($) | Jun. 30, 2022 USD ($) | Mar. 31, 2022 USD ($) | Sep. 30, 2023 USD ($) vestingInstallment $ / shares shares | Sep. 30, 2022 USD ($) $ / shares shares | Dec. 31, 2015 shares | Dec. 31, 2022 USD ($) shares | Mar. 08, 2022 USD ($) | Mar. 10, 2021 USD ($) | Dec. 31, 2012 shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stock repurchase program, authorized amount |  |  |  |  |  |  |  |  |  |  |  | $ 30,000,000 | $ 15,000,000 |
Repurchase of common stock (in shares) | shares |  |  |  |  |  |  |  | 180,000 | 834,000 |  |  |  |  |
Repurchase of common stock |  | $ 1,308,000 | $ 97,000 | $ 823,000 | $ 974,000 | $ 4,000,000 | $ 7,971,000 | $ 2,200,000 | $ 12,900,000 |  |  |  |  |
Stock repurchase program, remaining authorized repurchase amount |  | 21,800,000 |  |  |  |  |  | 21,800,000 |  |  |  |  |  |
2012 Stock Incentive Plan |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Number of shares authorized under the plan (in shares) | shares |  |  |  |  |  |  |  |  |  |  |  |  |  | 1,500,000
Additional number of shares authorized under the plan (in shares) | shares | 2,000,000 |  |  |  |  |  |  |  |  | 1,500,000 |  |  |  |
Stock options |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based compensation expense |  | 0 |  |  | 0 |  |  | 0 | $ 0 |  |  |  |  |
Unrecognized share-based compensation expense |  | $ 0 |  |  |  |  |  | $ 0 |  |  | $ 0 |  |  |
Options outstanding (in shares) | shares |  | 75,000 |  |  |  |  |  | 75,000 |  |  | 143,000 |  |  |
Aggregate intrinsic value, outstanding |  | $ 399,000 |  |  |  |  |  | $ 399,000 |  |  | $ 0 |  |  |
Exercised (in shares) | shares |  |  |  |  |  |  |  | 27,000 | 29,000 |  |  |  |  |
Exercised (in dollars per share) | $ / shares |  |  |  |  |  |  |  | $ 13.88 | $ 9.17 |  |  |  |  |
Aggregate intrinsic values of options exercised |  |  |  |  |  |  |  | $ 100,000 | $ 300,000 |  |  |  |  |
Tax benefit from the exercise of stock options |  |  |  |  |  |  |  | $ 100,000 | 100,000 |  |  |  |  |
Weighted-average grant date fair value (in dollars per share) | $ / shares |  |  |  |  |  |  |  | $ 0 |  |  |  |  |  |
Time-based stock options | Maximum |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Vesting period |  |  |  |  |  |  |  | 48 months |  |  |  |  |  |
Performance based stock options operating income margins |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Operating income margin, one (percentage) |  |  |  |  |  |  |  | 6.00% |  |  |  |  |  |
Operating income margin, two (percentage) |  |  |  |  |  |  |  | 8.00% |  |  |  |  |  |
Operating income margin, three (percentage) |  |  |  |  |  |  |  | 10.00% |  |  |  |  |  |
Unvested stock options outstanding (in shares) | shares |  | 0 |  |  |  |  |  | 0 |  |  | 0 |  |  |
Performance based stock options operating income margins | Minimum |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Award performance period |  |  |  |  |  |  |  | 1 year |  |  |  |  |  |
Performance based stock options operating income margins | Maximum |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Award performance period |  |  |  |  |  |  |  | 1 year 3 months |  |  |  |  |  |
RSUs |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based compensation expense |  | $ 1,000,000 |  |  | 300,000 |  |  | $ 2,900,000 | $ 1,200,000 |  |  |  |  |
Unrecognized share-based compensation expense |  | $ 3,500,000 |  |  |  |  |  | $ 3,500,000 |  |  | $ 3,000,000 |  |  |
Discount for lack of marketability |  |  |  |  |  |  |  | 11.90% |  |  |  |  |  |
Weighted-average period over which the remaining compensation cost is expected to be recognized |  |  |  |  |  |  |  | 9 months 18 days |  |  |  |  |  |
Minimum withholding requirements (in shares) | shares |  |  |  |  |  |  |  | 48,000 | 80,000 |  |  |  |  |
RSUs | 2012 Stock Incentive Plan |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Granted (in shares) | shares |  |  |  |  |  |  |  | 533,000 |  |  |  |  |  |
RSUs | Minimum | 2012 Stock Incentive Plan |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Vesting period |  |  |  |  |  |  |  | 12 months |  |  |  |  |  |
RSUs | Maximum | 2012 Stock Incentive Plan |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Vesting period |  |  |  |  |  |  |  | 36 months |  |  |  |  |  |
RSUs | Director | 2012 Stock Incentive Plan |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Restriction period for issuance of shares |  |  |  |  |  |  |  | 2 years |  |  |  |  |  |
Nonvested subject to restriction period (in shares) | shares |  | 90,000 |  |  |  |  |  | 90,000 |  |  | 94,000 |  |  |
Time-Based Restricted Stock Units (RSUs), 1-year Vesting | 2012 Stock Incentive Plan |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Vesting period |  |  |  |  |  |  |  | 1 year |  |  |  |  |  |
Weighted-average grant date fair value (in dollars per share) | $ / shares |  |  |  |  |  |  |  | $ 10.55 |  |  |  |  |  |
Number of vesting installments | vestingInstallment |  |  |  |  |  |  |  | 12 |  |  |  |  |  |
Time-Based Restricted Stock Units (RSUs), 3-year Vesting | 2012 Stock Incentive Plan |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Vesting period |  |  |  |  |  |  |  | 3 years |  |  |  |  |  |
Performance-Based Restricted Stock Units (RSUs) |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based compensation expense |  | $ 300,000 |  |  | $ 200,000 |  |  | $ 900,000 | $ 700,000 |  |  |  |  |
Share based compensation potential compensation expense to be recognized |  | 3,100,000 |  |  |  |  |  | 3,100,000 |  |  |  |  |  |
Performance-Based Restricted Stock Units (RSUs) | Maximum |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share based compensation potential compensation expense to be recognized |  | $ 6,100,000 |  |  |  |  |  | $ 6,100,000 |  |  |  |  |  |
Adjusted EBITDA Performance-Based Restricted Stock Units | 2012 Stock Incentive Plan |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Vesting period |  |  |  |  |  |  |  | 4 years |  |  |  |  |  |
Weighted-average grant date fair value (in dollars per share) | $ / shares |  |  |  |  |  |  |  | $ 10.74 |  |  |  |  |  |

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