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Stock-Based Compensation and Common Stock - Narrative (Details) - USD ($)
3 Months Ended 9 Months Ended
May 23, 2024
Sep. 30, 2024
Sep. 30, 2023
Jun. 30, 2023
Sep. 30, 2024
Sep. 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)   4,804,464     4,804,464    
Awards forfeited to date (in shares)   883,558     883,558    
Awards available for grant (in shares)   920,911     920,911    
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     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)         22,126 23,620  
Unrecognized compensation expense   9,900,000     $ 9,900,000    
Period for recognition (in years)         2 years 3 months 18 days    
Share-based payment arrangement, expense (income)   1,700,000 $ 100,000   $ 2,500,000 $ 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   7,400,000     $ 7,400,000    
Period for recognition (in years)         2 years 4 months 24 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   $ 1,500,000     $ 1,500,000    
Period for recognition (in years)         2 years 3 months 18 days    
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%