Annual report pursuant to Section 13 and 15(d)

Income Taxes - Narrative (Details)

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Income Taxes - Narrative (Details) - USD ($)
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Income Tax Contingency [Line Items]      
Net operating loss $ 75,300,000    
Uncertain tax positions 1,380,000 $ 1,380,000 $ 1,380,000
Unrecognized tax benefits recognized 1,300,000    
Interest and penalty expense 0 $ 0  
Domestic Tax Authority      
Income Tax Contingency [Line Items]      
Net operating loss 15,800,000    
State and Local Jurisdiction      
Income Tax Contingency [Line Items]      
Net operating loss 3,600,000    
Foreign Tax Authority      
Income Tax Contingency [Line Items]      
Net operating loss $ 900,000