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Acquisition - Additional Information (Details) - USD ($) | 12 Months Ended |  |
--- | --- | --- | ---
Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2023 | Dec. 31, 2020
Business Acquisition [Line Items] |  |  |  |
Business acquisition, purchase price |  | $ 2,450,000 |  |
Goodwill | $ 3,120,000 | 3,120,000 |  | $ 1,651,000
Goodwill related to deferred tax assets | 517,000 | 580,000 |  |
Maximum |  |  |  |
Business Acquisition [Line Items] |  |  |  |
Contingent consideration earn out payable |  | $ 4,000,000.0 |  |
Earn out cash payments | 2,000,000.0 |  |  |
Maximum | Scenario Forecast |  |  |  |
Business Acquisition [Line Items] |  |  |  |
Earn out cash payments |  |  | $ 2,000,000.0 |
Fortress ID |  |  |  |
Business Acquisition [Line Items] |  |  |  |
Percentage of ownership control |  | 100.00% |  |
Business acquisition, purchase price |  | $ 3,400,000 |  |
Business acquisition, cash consideration |  | 2,500,000 |  |
Business acquisition, earnout with fair value |  | 900,000 |  |
Goodwill |  | 1,469,000 |  |
Goodwill related to deferred tax assets |  | $ 300,000 |  |
Fortress ID | Maximum |  |  |  |
Business Acquisition [Line Items] |  |  |  |
Contingent consideration earn out payable | $ 2,000,000.0 |  |  |

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