| Document and Entity Information | Sep. 10, 2024 |
| Cover [Abstract] | |
| Document Type | 8-K |
| Amendment Flag | false |
| Document Period End Date | Sep. 10, 2024 |
| Entity File Number | 001-32407 |
| Entity Registrant Name | ARC DOCUMENT SOLUTIONS, INC. |
| Entity Central Index Key | 0001305168 |
| Entity Incorporation, State or Country Code | DE |
| Entity Tax Identification Number | 20-1700361 |
| Entity Address, Address Line One | 12657 ALCOSTA BLVD. |
| Entity Address, Address Line Two | SUITE 200 |
| Entity Address, City or Town | SAN RAMON |
| Entity Address, State or Province | CA |
| Entity Address, Postal Zip Code | 94583 |
| City Area Code | 925 |
| Local Phone Number | 949-5100 |
| Title of 12(b) Security | Common Stock, par value $0.001 per share |
| Trading Symbol | ARC |
| Security Exchange Name | NYSE |
| Entity Emerging Growth Company | false |
| Written Communications | false |
| Soliciting Material | true |
| Pre-commencement Tender Offer | false |
| Pre-commencement Issuer Tender Offer | false |
