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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