| Summary of Significant Accounting Policies - Share Repurchase Program (Details) - USD ($) | 12 Months Ended | |||||
|---|---|---|---|---|---|---|
| Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020 | Aug. 31, 2019 | Feb. 28, 2017 | Apr. 30, 2016 | |
| Share-based Compensation Arrangement by Share-based Payment Award [Line Items] | ||||||
| Treasury stock, value | $ 6,000 | |||||
| Treasury Stock | ||||||
| Share-based Compensation Arrangement by Share-based Payment Award [Line Items] | ||||||
| Treasury stock, shares acquired (in shares) | 0 | 0 | 455 | |||
| Treasury stock, value | $ 6,000 | |||||
| Class A Common Stock | ||||||
| Share-based Compensation Arrangement by Share-based Payment Award [Line Items] | ||||||
| Stock repurchase program, authorized amount (up to) | $ 17,553,000 | $ 15,000,000 | $ 10,000,000 | |||
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- Definition Line items represent financial concepts included in a table. These concepts are used to disclose reportable information associated with domain members defined in one or many axes to the table. No definition available. 
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- Definition Amount of stock repurchase plan authorized. No definition available. 
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- Definition Number of shares that have been repurchased during the period and are being held in treasury. Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef 
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- Definition Equity impact of the cost of common and preferred stock that were repurchased during the period. Recorded using the cost method. Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef 
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- Details 
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