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Income Taxes - Reconciliation of Differences between Federal Statutory and Effective Income Tax Rate (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Income Tax Disclosure [Abstract] |  |  |
At statutory rate | $ (473) | $ (821) | $ (12,535)
State taxes, net of U.S. federal benefit | (1,554) | (162) | (757)
Current portion of long-term debt | 305 | 0 | 0
Federal tax deductions | (3,231) | (3,299) | 357
Change in applicable tax rate | (436) | 26 | 286
Provision to return permanent difference | (810) | (17) | 340
R&D credits | (149) | (209) | 67
Fuel tax credit | (181) | (142) | (125)
Unrecognized tax benefits | 0 | 70 | 2,163
NOL carryback/carryforward | (714) | 14 | 1,186
Nondeductible asset basis | 342 | 909 | 0
Compensation deduction limitation | 0 | 426 | 0
Total income tax benefit | $ (6,901) | $ (3,205) | $ (9,017)

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