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Stock-Based Compensation and Common Stock - Narrative (Details) - USD ($) |  | 3 Months Ended | 6 Months Ended |
--- | --- | --- | --- | ---
May 23, 2024 | Jun. 30, 2024 | Jun. 30, 2023 | Jun. 30, 2024 | Jun. 30, 2023 | Feb. 11, 2008
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Additional shares authorized (in shares) | 649,000 |  |  |  |  |
Awards issued to date (in shares) |  | 4,744,660 |  | 4,744,660 |  |
Awards forfeited to date (in shares) |  | 792,136 |  | 792,136 |  |
Awards available for grant (in shares) |  | 834,082 |  | 834,082 |  |
Shares issued for services (in shares) |  | 12,564 | 16,134 |  |  |
Stock repurchase program, authorized amount |  |  |  |  |  | $ 50,000,000
Repurchase of common stock (in shares) |  | 0 | 36,000 | 0 | 36,000 |
Repurchase of common stock |  |  | $ 904,000 |  | $ 900,000 |
Total shares acquired to date (in shares) |  | 1,074,670 |  | 1,074,670 |  |
Total shares acquired to date |  | $ 29,200,000 |  | $ 29,200,000 |  |
Remaining authorized repurchase amount |  | $ 20,800,000 |  | 20,800,000 |  |
Restricted stock units |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Shares issued for services (in shares) |  | 16,752 | 16,134 |  |  |
Unrecognized compensation expense |  | $ 10,600,000 |  | $ 10,600,000 |  |
Period for recognition (in years) |  |  |  | 2 years 4 months 24 days |  |
Share-based payment arrangement, expense (income) |  | 100,000 | $ (700,000) | $ 900,000 | $ 100,000 |
Restricted stock units | Minimum |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Award vesting period (in years) |  |  |  | 3 years |  |
Restricted stock units | Maximum |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Award vesting period (in years) |  |  |  | 4 years |  |
Performance stock units |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Award vesting period (in years) |  |  |  | 4 years |  |
Unrecognized compensation expense |  | 8,300,000 |  | $ 8,300,000 |  |
Period for recognition (in years) |  |  |  | 2 years 7 months 6 days |  |
Performance stock units | Minimum |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Award vesting rights, percentage |  |  |  | 0.00% |  |
Award service period |  |  |  | 1 year |  |
Performance stock units | Maximum |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Award vesting rights, percentage |  |  |  | 100.00% |  |
Award service period |  |  |  | 4 years |  |
Phantom share units |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Unrecognized compensation expense |  | $ 1,600,000 |  | $ 1,600,000 |  |
Period for recognition (in years) |  |  |  | 2 years 6 months |  |
Phantom share units | Minimum |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Award vesting period (in years) |  |  |  | 3 years |  |
Phantom share units | Maximum |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Award vesting period (in years) |  |  |  | 4 years |  |
Executive Officer | Performance stock units |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Award vesting period (in years) |  |  |  | 3 years |  |
Executive Officer | Performance stock units | Minimum |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Award vesting rights, percentage |  |  |  | 0.00% |  |
Executive Officer | Performance stock units | Maximum |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Award vesting rights, percentage |  |  |  | 200.00% |  |

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