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Stockholders' Equity and Stock Plans - Schedule of Options Outstanding Rollforward (Details) - USD ($)
$ / shares in Units, $ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Number of Shares        
Options outstanding, beginning balance (in shares) 329,705 365,381 371,584  
Granted (in shares) 10,040 39,094 55,861  
Cancelled, expired or forfeited (in shares) (23,804) (23,760) (2,008)  
Exercised (in shares) (12,164) (51,010) (60,056)  
Options outstanding, ending balance (in shares) 303,777 329,705 365,381 371,584
Exercisable (vested), ending balance (in shares) 283,578 287,228 315,744  
Weighted Average Exercise Price        
Options outstanding, beginning balance (in dollars per share) $ 33.22 $ 31.97 $ 29.92  
Granted (in dollars per share) 32.54 34.16 36.39  
Cancelled, expired or forfeited (in dollars per share) 35.06 37.48 42.50  
Exercised (in dollars per share) 20.25 23.01 23.01  
Options outstanding, ending balance (in dollars per share) 33.22 33.22 31.97 $ 29.92
Exercisable (vested), ending balance (in dollars per shares) $ 33.46 $ 32.81 $ 30.85  
Aggregate Intrinsic Value        
Options outstanding, beginning balance $ 813 $ 2,326 $ 2,262  
Exercised 88 617 885  
Options outstanding, ending balance 1 813 2,326 $ 2,262
Exercisable (vested) $ 1 $ 813 $ 2,264  
Weighted Average Grant-Date Fair Value        
Granted (in dollars per share) $ 8.49 $ 8.49 $ 8.84  
Weighted Average Remaining Contractual Term        
Options outstanding 4 years 10 months 9 days 5 years 7 months 2 days 5 years 6 months 25 days 5 years 1 month 13 days
Exercisable (vested) 4 years 7 months 24 days 5 years 1 month 24 days 5 years 1 month 24 days