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Employee Benefit Plans and Stock-based Compensation - Performance Shares (Details) - USD ($) $ / shares in Units, $ in Millions |  |  |  |  |  |  | 1 Months Ended | 12 Months Ended
--- | --- | --- | --- | --- | --- | --- | --- | ---
Feb. 20, 2024 | Mar. 15, 2023 | Feb. 14, 2023 | Mar. 14, 2022 | Feb. 15, 2022 | Feb. 17, 2021 | Mar. 31, 2023 | Feb. 28, 2022 | Feb. 28, 2021 | Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Performance Shares |  |  |  |  |  |  |  |  |  |  |  |
Shares |  |  |  |  |  |  |  |  |  |  |  |
Non-vested, beginning of period (in shares) |  |  |  |  |  |  |  |  |  | 76,000 | 152,000 |
Granted (in shares) |  |  |  |  |  |  |  |  |  | 13,000 | 74,000 |
Vested (in shares) |  |  |  |  |  |  |  |  |  | (38,000) | (76,000) |
Forfeited (in shares) |  |  |  |  |  |  |  |  |  | (13,000) | (74,000) |
Non-vested, end of period (in shares) |  |  |  |  |  |  |  |  |  | 38,000 | 76,000 | 152,000
Weighted Average Grant Date Fair Value |  |  |  |  |  |  |  |  |  |  |  |
Non-vested, beginning of period (in dollars per share) |  |  |  |  |  |  |  |  |  | $ 15.37 | $ 15.37 |
Granted (in dollars per share) |  |  |  |  |  |  |  |  |  | 3.71 | 7.83 |
Vested (in dollars per share) |  |  |  |  |  |  |  |  |  | 15.37 | 15.37 |
Forfeited (in dollars per share) |  |  |  |  |  |  |  |  |  | 3.71 | 7.83 |
Non-vested, end of period (in dollars per share) |  |  |  |  |  |  |  |  |  | $ 15.37 | $ 15.37 | $ 15.37
Weighted-average grant date fair value of stock options granted (in dollars per share) |  |  |  |  |  |  | $ 3.71 | $ 7.83 | $ 15.37 |  |  |
Percentage of performance target cap of award | 100.00% | 100.00% |  |  |  |  |  |  |  |  |  |
Percentage of year-over-year annual revenue growth rate |  |  | 2.70% | 44.00% |  |  |  |  |  |  |  |
Shares eligible to vest | 0 |  | 0 |  |  |  |  |  |  |  |  |
Percentage of targeted financial performance |  |  |  |  |  |  |  |  |  | 150.00% |  |
Unrecognized compensation expense related to restricted stock awards |  |  |  |  |  |  |  |  |  | $ 0.1 |  |
Weighted-average remaining contractual terms |  |  |  |  |  |  |  |  |  | 10 months 6 days |  |
Performance Shares | Minimum | Scenario Performance Financial Metric Less Than 50% |  |  |  |  |  |  |  |  |  |  |  |
Weighted Average Grant Date Fair Value |  |  |  |  |  |  |  |  |  |  |  |
Percentage of targeted financial performance |  |  |  |  | 50.00% |  |  |  |  |  |  |
Performance Shares | Minimum | Scenario Performance Financial Metric is Between 50% to 200% |  |  |  |  |  |  |  |  |  |  |  |
Weighted Average Grant Date Fair Value |  |  |  |  |  |  |  |  |  |  |  |
Percentage of targeted financial performance |  |  |  |  | 50.00% |  |  |  |  |  |  |
Performance Shares | Maximum | Scenario Performance Financial Metric is Between 50% to 200% |  |  |  |  |  |  |  |  |  |  |  |
Weighted Average Grant Date Fair Value |  |  |  |  |  |  |  |  |  |  |  |
Percentage of targeted financial performance |  |  |  |  | 200.00% |  |  |  |  |  |  |
Performance Shares | Maximum | Scenario Performance Financial Metric Greater Than 200% |  |  |  |  |  |  |  |  |  |  |  |
Weighted Average Grant Date Fair Value |  |  |  |  |  |  |  |  |  |  |  |
Percentage of targeted financial performance |  |  |  |  | 200.00% |  |  |  |  |  |  |
Performance Shares | First Anniversary |  |  |  |  |  |  |  |  |  |  |  |
Shares |  |  |  |  |  |  |  |  |  |  |  |
Vested (in shares) |  |  |  |  |  |  |  |  |  | 0 |  |
Weighted Average Grant Date Fair Value |  |  |  |  |  |  |  |  |  |  |  |
Vesting period |  |  |  |  |  |  |  |  |  | 4 years |  |
Performance Shares | Chief Executive Officer |  |  |  |  |  |  |  |  |  |  |  |
Weighted Average Grant Date Fair Value |  |  |  |  |  |  |  |  |  |  |  |
Stock options grants in period | 223,590 | 223,590 |  |  |  | 113,130 |  |  |  |  |  |
Performance Shares | Chief Executive Officer | Scenario Performance Minimum Financial Metric |  |  |  |  |  |  |  |  |  |  |  |
Weighted Average Grant Date Fair Value |  |  |  |  |  |  |  |  |  |  |  |
Share options vested in period | 223,590 | 223,590 |  |  |  |  |  |  |  |  |  |
Performance Shares | Chief Executive Officer | Scenario Performance Financial Metric Less Than 50% |  |  |  |  |  |  |  |  |  |  |  |
Weighted Average Grant Date Fair Value |  |  |  |  |  |  |  |  |  |  |  |
Stock options grants in period |  |  |  |  | 114,320 |  |  |  |  |  |  |
Performance Shares | Chief Executive Officer | Scenario Performance Financial Metric is Between 50% to 200% |  |  |  |  |  |  |  |  |  |  |  |
Weighted Average Grant Date Fair Value |  |  |  |  |  |  |  |  |  |  |  |
Stock options grants in period |  |  |  |  | 114,320 |  |  |  |  |  |  |
Performance Shares | Chief Executive Officer | Scenario Performance Financial Metric Greater Than 200% |  |  |  |  |  |  |  |  |  |  |  |
Weighted Average Grant Date Fair Value |  |  |  |  |  |  |  |  |  |  |  |
Stock options grants in period |  |  |  |  | 114,320 |  |  |  |  |  |  |
Performance Shares | Chief Financial Officer |  |  |  |  |  |  |  |  |  |  |  |
Weighted Average Grant Date Fair Value |  |  |  |  |  |  |  |  |  |  |  |
Stock options grants in period | 77,600 | 77,600 |  |  |  | 38,475 |  |  |  |  |  |
Performance Shares | Chief Financial Officer | Scenario Performance Minimum Financial Metric |  |  |  |  |  |  |  |  |  |  |  |
Weighted Average Grant Date Fair Value |  |  |  |  |  |  |  |  |  |  |  |
Share options vested in period | 77,600 | 77,600 |  |  |  |  |  |  |  |  |  |
Performance Shares | Chief Financial Officer | Scenario Performance Financial Metric Less Than 50% |  |  |  |  |  |  |  |  |  |  |  |
Weighted Average Grant Date Fair Value |  |  |  |  |  |  |  |  |  |  |  |
Stock options grants in period |  |  |  |  | 32,100 |  |  |  |  |  |  |
Performance Shares | Chief Financial Officer | Scenario Performance Financial Metric is Between 50% to 200% |  |  |  |  |  |  |  |  |  |  |  |
Weighted Average Grant Date Fair Value |  |  |  |  |  |  |  |  |  |  |  |
Stock options grants in period |  |  |  |  | 32,100 |  |  |  |  |  |  |
Performance Shares | Chief Financial Officer | Scenario Performance Financial Metric Greater Than 200% |  |  |  |  |  |  |  |  |  |  |  |
Weighted Average Grant Date Fair Value |  |  |  |  |  |  |  |  |  |  |  |
Stock options grants in period |  |  |  |  | 32,100 |  |  |  |  |  |  |
Employee Stock Option [Member] |  |  |  |  |  |  |  |  |  |  |  |
Weighted Average Grant Date Fair Value |  |  |  |  |  |  |  |  |  |  |  |
Stock options grants in period |  |  |  |  |  |  |  |  |  | 0 | 0 | 0

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- Definition The number of non-vested equity-based payment instruments, excluding stock (or unit) options, that validly exist and are outstanding as of the balance sheet date. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(2)(i) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(2)(ii) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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