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Stockholders' Equity, Stock-based Valuation Information (Details) | 12 Months Ended
--- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Employee Stock Options [Member] |  |  |
Weighted-Average Assumptions [Abstract] |  |  |
Risk-free interest rate | 3.80% | 2.10% | 0.60%
Dividend yield | 0.00% | 0.00% | 0.00%
Volatility | 46.80% | 54.50% | 54.00%
Expected life | 6 years 3 months 18 days | 6 years 3 months 18 days | 4 years 10 months 24 days
Employee Stock Options [Member] | 2011 Equity Incentive Plan [Member] |  |  |
Weighted-Average Assumptions [Abstract] |  |  |
Award term | 7 years |  |
Employee Stock Options [Member] | 2011 Equity Incentive Plan [Member] | Issued after December 31, 2021 [Member] |  |  |
Weighted-Average Assumptions [Abstract] |  |  |
Award term | 10 years |  |
Employee Stock Options [Member] | 2020 Equity Incentive Plan [Member] |  |  |
Weighted-Average Assumptions [Abstract] |  |  |
Award term | 7 years |  |
Employee Stock Options [Member] | 2020 Equity Incentive Plan [Member] | Issued after December 31, 2021 [Member] |  |  |
Weighted-Average Assumptions [Abstract] |  |  |
Award term | 10 years |  |
Board of Director Stock Options [Member] |  |  |
Weighted-Average Assumptions [Abstract] |  |  |
Risk-free interest rate | 3.80% | 2.90% | 1.20%
Dividend yield | 0.00% | 0.00% | 0.00%
Volatility | 52.70% | 56.20% | 55.90%
Expected life | 7 years 8 months 12 days | 7 years 4 months 24 days | 7 years 3 months 18 days
ESPP [Member] |  |  |
Weighted-Average Assumptions [Abstract] |  |  |
Risk-free interest rate | 5.30% | 1.20% | 0.10%
Dividend yield | 0.00% | 0.00% | 0.00%
Volatility | 36.00% | 50.10% | 42.40%
Expected life | 6 months | 6 months | 6 months

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- Definition The estimated dividend rate (a percentage of the share price) to be paid (expected dividends) to holders of the underlying shares over the option's term. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (f)(2)(iii) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition The risk-free interest rate assumption that is used in valuing an option on its own shares. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (f)(2)(iv) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition Rate of weighted-average expected volatility for award under share-based payment arrangement. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (f)(2)(ii) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition Period from grant date that an equity-based award expires, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days. + References Reference 1: http://www.xbrl.org/2003/role/exampleRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (a)(2) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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