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Stockholders' Equity - Repurchase of Common Stock (Details) - USD ($) $ / shares in Units, $ in Thousands | 3 Months Ended | 9 Months Ended | 12 Months Ended |
--- | --- | --- | --- | ---
Mar. 31, 2022 | Sep. 30, 2023 | Dec. 31, 2022 | Jun. 23, 2021
Stockholders' Equity |  |  |  |
Shares authorized to be repurchased |  |  |  | $ 50,000
Average cost per share of repurchased shares (in dollars per share) |  | $ 5.72 |  |
Total number of shares repurchased, beginning (in shares) | 4,413,741 | 5,260,480 | 4,413,741 |
Shares repurchased (in shares) | 846,739 |  | 846,739 |
Total number of shares repurchased, ending (in shares) |  |  | 5,260,480 |
Amount of stock repurchased, beginning | $ 37,019 | $ 41,862 | $ 37,019 |
Aggregate cost of shares repurchased | $ 4,843 | $ 4,800 | 4,843 |
Amount of stock repurchased, ending |  |  | $ 41,862 |

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