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Equity Incentive Plans and Stock-Based Compensation (Details Narrative) | 12 Months Ended |
--- | --- | ---
Dec. 31, 2023 USD ($) plan $ / shares shares | Dec. 31, 2022 USD ($) $ / shares shares | Dec. 31, 2021 USD ($) $ / shares shares | Dec. 31, 2020 shares
Stock-Based Compensation |  |  |  |
Tenure of award | 10 years |  |  |
Option One |  |  |  |
Stock-Based Compensation |  |  |  |
Requisite service period | 60 months |  |  |
Option Two |  |  |  |
Stock-Based Compensation |  |  |  |
Requisite service period | 48 months |  |  |
Stock compensation plan |  |  |  |
Stock-Based Compensation |  |  |  |
Shares available for issuance | shares | 11,954,150 | 7,655,769 | 10,492,178 | 12,412,320
Contingently issuable ESPP shares |  |  |  |
Stock-Based Compensation |  |  |  |
Number of employee stock purchase plans | plan | 1 |  |  |
Minimum number of hours of weekly employment in order to qualify for eligibility in the plan | 20 hours |  |  |
Minimum number of months of employment in a fiscal year in order to qualify for eligibility in the plan | 5 months |  |  |
Offering period | 6 months |  |  |
Percentage of the price at the beginning of the offering period or price at the end of each offering period to derive purchase price | 85.00% |  |  |
Maximum share value per employee in any calendar year | $ 25,000 |  |  |
Employee stock purchase plan, shares issued during period | shares | 172,711 | 255,614 | 384,087 |
Employee stock purchase plan, weighted-average price per share | $ / shares | $ 31.10 | $ 20.60 | $ 12.95 |
Shares available for issuance | shares | 2,400,000 |  |  |
Stock-based compensation expense | $ 1,800,000 | $ 1,700,000 | $ 1,400,000 |
Unrecognized compensation cost | $ 800,000 |  |  |
Unrecognized compensation cost, weighted-average period | 4 months |  |  |
Stock options |  |  |  |
Stock-Based Compensation |  |  |  |
Total fair value of options vested | $ 500,000 | $ 1,700,000 | $ 2,000,000 |
Nonvested equity stock and stock units |  |  |  |
Stock-Based Compensation |  |  |  |
Requisite service period | 4 years | 4 years | 4 years |
Stock-based compensation expense | $ 43,100,000 | $ 33,800,000 | $ 25,700,000 |
Unrecognized compensation cost | $ 64,200,000 |  |  |
Unrecognized compensation cost, weighted-average period | 1 year 10 months 24 days |  |  |
Awards, nonvested grants in period, shares | shares | 1,268,973 | 2,338,255 | 2,363,885 |
Awards, nonvested grants in period, fair value | $ 60,700,000 | $ 65,600,000 | $ 50,100,000 |
Nonvested equity stock and stock units | Minimum |  |  |  |
Stock-Based Compensation |  |  |  |
Awards, vesting rights | 0.00% |  |  |
Nonvested equity stock and stock units | Maximum |  |  |  |
Stock-Based Compensation |  |  |  |
Awards, vesting rights | 200.00% |  |  |
Nonvested equity stock and stock units | Director |  |  |  |
Stock-Based Compensation |  |  |  |
Requisite service period | 1 year | 1 year | 1 year |

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- Definition Represents the minimum number of months in a fiscal year that employees are required to be employed in order to be eligible to participate in the Employee Stock Purchase Plan. + References No definition available. + Details
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