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Stock-Based Compensation and Other Benefit Plans - Employee Stock Purchase Plan and Stock-Based Compensation Expense (Details) - USD ($) | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2012
Share-based Compensation Arrangement by Share-based Payment Award |  |  |
Payments for equity awards | $ 617,000 |  |
Employee Stock Purchase Plan |  |  |
Share-based Compensation Arrangement by Share-based Payment Award |  |  |
Maximum number of shares that may be issued (in shares) |  |  | 500,000
Percent of common stock fair market value |  |  | 85.00%
Offering period |  |  | 3 months
Maximum employee compensation payroll deductions may not exceed |  |  | 10.00%
Maximum shares employees may purchase each year, value |  |  | $ 25,000
Non-cash share-based compensation expense | 14,000 | $ 10,000 |
Total fair value of the shares purchased under the plan | 100,000 | 100,000 |
Award forfeitures | (1,600,000) |  |
Options And RSU | Employee Stock Purchase Plan |  |  |
Share-based Compensation Arrangement by Share-based Payment Award |  |  |
Non-cash share-based compensation expense | $ (300,000) | $ 3,300,000 |

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