Annual report pursuant to Section 13 and 15(d)

Convertible Redeemable Preferred Stock And Stockholders' Equity - Stock-Based Compensation (Additional Information) (Details)

v3.24.1
Convertible Redeemable Preferred Stock And Stockholders' Equity - Stock-Based Compensation (Additional Information) (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Feb. 28, 2021
Dec. 31, 2020
Redeemable Noncontrolling Interest [Line Items]          
Allocated Share-based Compensation Expense $ 1,232 $ 2,303 $ 1,662    
Accrued liabilities 8,881 9,210   $ 600  
Additional paid-in capital, common stock 317,103 301,790      
Additional paid in capital   300      
Other liabilities $ 79 $ 362      
Stock options outstanding 0 1,000 1,000   1,000
Common stock authorized for issuance 908        
2018 Long-Term Incentive Plan          
Redeemable Noncontrolling Interest [Line Items]          
Options and restricted stock units outstanding 55,081        
Increase in Number of Units Available for Issuance 49,372        
2002 Stock Incentive Plan          
Redeemable Noncontrolling Interest [Line Items]          
Common stock authorized for issuance 1,244        
Options available for future grants 0        
Common Stock | 2018 Long-Term Incentive Plan          
Redeemable Noncontrolling Interest [Line Items]          
Common stock authorized for issuance 112,268        
Restricted Stock Units (RSUs) [Member]          
Redeemable Noncontrolling Interest [Line Items]          
Granted 57,000 5,000 1,000    
Options and restricted stock units outstanding 140        
Share based payment award, number of shares vested 7,000        
Share based payment award, number of shares unvested and outstanding 18,000        
Restricted Stock Units (RSUs) [Member] | 2018 Long-Term Incentive Plan          
Redeemable Noncontrolling Interest [Line Items]          
Granted 21,700 2,170 1,210    
Restricted Stock Units (RSUs) [Member] | Boards          
Redeemable Noncontrolling Interest [Line Items]          
Granted 32,500 2,650      
Employee Stock Option          
Redeemable Noncontrolling Interest [Line Items]          
Stock options granted 0 0 30    
Phantom Share Units (PSUs) [Member]          
Redeemable Noncontrolling Interest [Line Items]          
Share-based Compensation Arrangement by Share-based Payment Award, Shares Issued in Period 1,119,000        
Allocated Share-based Compensation Expense $ 300 $ 200      
Accrued liabilities 500        
Additional paid-in capital, common stock $ 200        
Additional paid in capital   100      
Other liabilities   $ 300      
Stock Appreciation Rights (SARs)          
Redeemable Noncontrolling Interest [Line Items]          
Stock Option Outatanding 236,000        
Allocated Share-based Compensation Expense $ 0        
Additional paid-in capital, common stock $ 500