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Employee Stock Purchase Plan (Details) - USD ($) | 12 Months Ended
--- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Shares available for grant | 2,800,000 |  |
Employee Stock Purchase Plan |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Maximum employee subscription rate | 15.00% |  |
Share-based Compensation Arrangement by Share-based Payment Award, Maximum Number of Shares Per Employee | 2,500 |  |
Maximum employee subscription | $ 25,000 |  |
Purchase price of common stock, percent | 85.00% |  |
Issuance of common stock under Employee Stock Purchase Plan (Shares) | 114,427 | 113,785 | 313,773
Proceeds from issuance of shares under incentive and share-based compensation plans, excluding stock options | $ 3,100,000 | $ 3,000,000 | $ 2,600,000
Shares available for grant | 3,300,000 |  |
Stock-based compensation expense | $ 1,100,000 | $ 1,200,000 | $ 1,400,000
Risk free interest rate | 5.10% | 1.20% | 0.80%
Dividend yield | 1.80% | 0.10% | 0.30%
Volatility factor of the expected market price of the Company's common stock | 53.60% | 69.10% | 106.10%
Expected life (in years) | 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 estimated measure of the percentage by which a share price is expected to fluctuate during a period. Volatility also may be defined as a probability-weighted measure of the dispersion of returns about the mean. The volatility of a share price is the standard deviation of the continuously compounded rates of return on the share over a specified period. That is the same as the standard deviation of the differences in the natural logarithms of the stock prices plus dividends, if any, over the period. + 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 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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