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Employee Benefit Plans and Stock-based Compensation - Assumptions (Details) - USD ($) | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Weighted-average assumptions |  |  |
Expected dividend (in hundredths) | 0.00% | 0.00% | 0.00%
Retirement Savings Plan |  |  |
Period after which all full time employees are eligible to participate in the savings plan | 90 days |  |
Contributions to the retirement savings plans | $ 186,000 | $ 191,000 | $ 208,000
Maximum |  |  |
Retirement Savings Plan |  |  |
Maximum percentage of employer matching contribution if employees contribute at least 6% of base pay (in hundredths) | 4.00% |  |
Minimum |  |  |
Retirement Savings Plan |  |  |
Minimum percentage of employee contribution to get 4% of employer's contribution (in hundredths) | 6.00% |  |

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- Definition The estimated dividend rate (a percentage of the share price) to be paid (expected dividends) to holders of the underlying shares over the option's term. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (f)(2)(iii) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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