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Stockholders' Equity and Stock Plans - Options Outstanding Rollforward (Details) - USD ($)
$ / shares in Units, $ in Thousands
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Number of Shares        
Options outstanding, beginning balance (in shares) 365,381 371,584 417,382  
Granted (in shares) 39,094 55,861 44,632  
Cancelled, expired or forfeited (in shares) (23,760) (2,008) (17,222)  
Exercised (in shares) (51,010) (60,056) (73,208)  
Options outstanding, ending balance (in shares) 329,705 365,381 371,584 417,382
Exercisable (vested), ending balance (in shares) 287,228 315,744 315,377  
Weighted Average Exercise Price        
Options outstanding, beginning balance (in dollars per share) $ 31.97 $ 29.92 $ 28.01  
Granted (in dollars per share) 34.16 36.39 39.18  
Cancelled, expired or forfeited (in dollars per share) 37.48 42.50 40.31  
Exercised (in dollars per share) 23.01 23.01 22.26  
Options outstanding, ending balance (in dollars per share) 33.22 31.97 29.92 $ 28.01
Exercisable (vested), ending balance (in dollars per shares) $ 32.81 $ 30.85 $ 28.05  
Aggregate Intrinsic Value        
Options outstanding, beginning balance $ 2,326 $ 2,262 $ 7,112  
Exercised 617 885 1,370  
Options outstanding, ending balance 813 2,326 2,262 $ 7,112
Exercisable (vested) $ 813 $ 2,264 $ 2,254  
Weighted Average Grant-Date Fair Value        
Granted (in dollars per share) $ 8.49 $ 8.84 $ 6.84  
Weighted Average Remaining Contractual Term        
Options outstanding 5 years 7 months 2 days 5 years 6 months 25 days 5 years 1 month 13 days 5 years 6 months
Exercisable (vested) 5 years 1 month 24 days 5 years 1 month 24 days 4 years 6 months 10 days