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Stock Award Plans and Stock Based Compensation (Details) - USD ($) $ / shares in Units, $ in Thousands |  | 12 Months Ended |
--- | --- | --- | ---
May 12, 2012 | Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021 | May 02, 2012
Stock-Based Compensation |  |  |  |  |
Common stock, par value (in dollars per share) |  | $ 0.001 | $ 0.001 |  |
Stock-Based Compensation Expense |  |  |  |  |
Forfeiture rate (as a percent) |  | 5.00% | 5.00% | 5.00% |
Stock-based compensation expense |  | $ 18,300 | $ 13,400 | $ 12,100 |
Benefit of tax deductions in excess of recognized compensation cost |  | 10,200 |  |  |
Tax benefit |  | $ 2,200 |  |  |
Estimated weighted-average assumptions |  |  |  |  |
Weighted-average expected volatility (as a percent) |  |  |  | 53.07% |
Weighted-average expected term |  |  | 4 years 8 months 15 days |  |
Risk-free interest rate |  |  |  | 1.22% |
Expected dividend yield (as a percent) |  |  |  | 0.00% |
Options |  |  |  |  |
Granted (in shares) |  | 0 | 0 |  |
Common Stock |  |  |  |  |
Employee Stock Purchase Plan |  |  |  |  |
Number of shares purchased under the plan |  | 16,000 | 29,000 | 26,000 |
Options |  |  |  |  |
Exercised (in shares) |  | (3,000) | (103,000) | (396,000) |
Employee Stock Purchase Plan |  |  |  |  |
Stock-Based Compensation |  |  |  |  |
Number of shares of common stock originally reserved for future grant |  | 900,000 |  |  |
Employee Stock Purchase Plan |  |  |  |  |
Purchase price as a percentage of the market value of a common stock on the day the stock is purchased |  | 85.00% |  |  |
Offering period over which compensation expense is amortized |  | 6 months |  |  |
Number of shares purchased under the plan |  | 9,965 |  |  |
Stock-Based Compensation Expense |  |  |  |  |
Stock-based compensation expense |  | $ 400 | $ 300 | $ 200 |
Employee Stock Purchase Plan | Maximum |  |  |  |  |
Employee Stock Purchase Plan |  |  |  |  |
Payroll deductions as a percentage of employee's salary |  | 10.00% |  |  |
Number of shares purchased under the plan |  | 100,000 | 100,000 | 100,000 |
Restricted Stock Units |  |  |  |  |
Shares/units |  |  |  |  |
Outstanding at the beginning of the period (in shares) |  | 725,000 |  |  |
Granted (in shares) |  | 220,000 |  |  |
Vested (in shares) |  | (397,000) |  |  |
Forfeited (in shares) |  | (10,000) |  |  |
Outstanding at the end of the period (in shares) |  | 538,000 | 725,000 |  |
Weighted-Average Grant Date Fair Value per Share |  |  |  |  |
Outstanding at the beginning of the period (in dollars per share) |  | $ 39.23 |  |  |
Granted (in dollars per share) |  | 125.11 | $ 55.47 | $ 38.54 |
Vested (in dollars per share) |  | 131.71 |  |  |
Forfeited (in dollars per share) |  | 51.94 |  |  |
Outstanding at the end of the period (in dollars per share) |  | $ 77.22 | $ 39.23 |  |
Restricted Stock Units | Employees |  |  |  |  |
Stock-Based Compensation |  |  |  |  |
Vesting period |  | 4 years |  |  |
Restricted Stock Units | Non-employee members of Board of Director |  |  |  |  |
Stock-Based Compensation |  |  |  |  |
Vesting period |  | 1 year |  |  |
Stock Option Awards |  |  |  |  |
Options |  |  |  |  |
Outstanding at the beginning of the period (in shares) |  | 5,000 |  |  |
Vested (in shares) |  | 750 | 750 | 0 |
Exercised (in shares) |  | (2,000) |  |  |
Outstanding at the end of the period (in shares) |  | 3,000 | 5,000 |  |
Exercisable (in shares) |  | 2,000 |  |  |
Options Vested at the end of the period (in shares) |  | 2,000 |  |  |
Weighted Average Exercise Price |  |  |  |  |
Outstanding at the beginning of the period (in dollars per share) |  | $ 43.33 |  |  |
Exercised (in dollars per share) |  | 13.75 |  |  |
Outstanding at the end of the period (in dollars per share) |  | 61.81 | $ 43.33 |  |
Exercisable at the end of the period (in dollars per share) |  | 61.81 |  |  |
Options Vested at the end of the period (in dollars per share) |  | $ 61.81 |  |  |
Weighted Average Remaining Contractual Term |  |  |  |  |
Outstanding at the end of the period |  | 4 years 10 months 24 days |  |  |
Exercisable at the end of the period |  | 4 years 10 months 24 days |  |  |
Options Vested at the end of the period |  | 4 years 10 months 24 days |  |  |
Aggregate Intrinsic Value |  |  |  |  |
Outstanding at the end of the period (in dollars) |  | $ 204 |  |  |
Exercisable at the end of the period (in dollars) |  | 102 |  |  |
Options Vested at the end of the period (in dollars) |  | 102 |  |  |
Additional disclosure |  |  |  |  |
Total intrinsic value of options exercised (in dollars) |  | 200 | $ 5,400 | $ 12,800 |
Stock Option Awards | Maximum |  |  |  |  |
Additional disclosure |  |  |  |  |
Total forfeiture adjusted unrecognized compensation cost (in dollars) |  | $ 100 |  |  |
Stock Option Awards | Employees |  |  |  |  |
Stock-Based Compensation |  |  |  |  |
Vesting period |  | 4 years |  |  |
Period after termination to exercise awards that were vested |  | 90 days |  |  |
Period after termination to retiring employees to exercise vested awards |  | 1 year |  |  |
Stock Option Awards | Non-employee members of Board of Director |  |  |  |  |
Stock-Based Compensation |  |  |  |  |
Vesting period |  | 6 months |  |  |
Restricted stock |  |  |  |  |
Shares/units |  |  |  |  |
Granted (in shares) |  | 0 | 0 | 0 |
Vested (in shares) |  | 0 | 0 | 0 |
Equity incentive plan 2012 |  |  |  |  |
Stock-Based Compensation |  |  |  |  |
Number of shares of common stock originally reserved for future grant |  |  |  |  | 9,500,000
Common stock, par value (in dollars per share) |  |  |  |  | $ 0.001
Number of shares of common stock available for future grants |  | 800,000 |  |  |
Number of shares approved | 7,760,000 |  |  |  |
Shares from expirations or forfeitures | 1,780,000 |  |  |  |
Options |  |  |  |  |
Outstanding at the end of the period (in shares) |  | 3,000 |  |  |
Shares/units |  |  |  |  |
Outstanding at the end of the period (in shares) |  | 500,000 |  |  |
Equity incentive plan 2012 | Restricted Stock Units |  |  |  |  |
Additional disclosure |  |  |  |  |
Total forfeiture adjusted unrecognized compensation cost (in dollars) |  | $ 31,700 |  |  |
Weighted-average period over which unrecognized compensation cost is expected to be recognized |  | 2 years 8 months 12 days |  |  |
Equity incentive plan 2012 | Stock Option Awards |  |  |  |  |
Stock-Based Compensation |  |  |  |  |
Options Expiration period |  | 7 years |  |  |
Equity incentive plan 2012 | Restricted stock |  |  |  |  |
Shares/units |  |  |  |  |
Granted (in shares) |  | 0 | 0 | 0 |

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