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Stockholders' Equity and Stock Plans - Schedule of Options Outstanding by Price Range (Details) - $ / shares	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Stock Options Outstanding (in shares)	303,777	329,705	365,381	371,584
Stock Options Outstanding, Remaining Contractual Life	4 years 10 months 9 days	5 years 7 months 2 days	5 years 6 months 25 days	5 years 1 month 13 days
Weighted Average Exercise Price (in dollars per share)	$ 33.22	$ 33.22	$ 31.97	$ 29.92
Stock options
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Stock Options Outstanding (in shares)	303,777
Stock Options Exercisable (in shares)	283,578
Stock options \| $10.00 - $20.00
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Range of Exercise Prices, Lower Limit (in dollars per share)	$ 10.00
Range of Exercise Prices, Upper Limit (in dollars per share)	$ 20.00
Stock Options Outstanding (in shares)	402
Stock Options Outstanding, Remaining Contractual Life	3 years 1 month 6 days
Weighted Average Exercise Price (in dollars per share)	$ 19.96
Stock Options Exercisable (in shares)	402
Stock Options Exercisable, Weighted Average Exercise Price (in dollars per share)	$ 19.96
Stock options \| $20.01 - $30.00
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Range of Exercise Prices, Lower Limit (in dollars per share)	20.01
Range of Exercise Prices, Upper Limit (in dollars per share)	$ 30.00
Stock Options Outstanding (in shares)	73,080
Stock Options Outstanding, Remaining Contractual Life	1 year 6 months
Weighted Average Exercise Price (in dollars per share)	$ 24.64
Stock Options Exercisable (in shares)	73,080
Stock Options Exercisable, Weighted Average Exercise Price (in dollars per share)	$ 24.64
Stock options \| $30.01 - $40.00
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Range of Exercise Prices, Lower Limit (in dollars per share)	30.01
Range of Exercise Prices, Upper Limit (in dollars per share)	$ 40.00
Stock Options Outstanding (in shares)	171,457
Stock Options Outstanding, Remaining Contractual Life	6 years
Weighted Average Exercise Price (in dollars per share)	$ 34.48
Stock Options Exercisable (in shares)	151,258
Stock Options Exercisable, Weighted Average Exercise Price (in dollars per share)	$ 34.39
Stock options \| $40.01 - $50.00
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Range of Exercise Prices, Lower Limit (in dollars per share)	40.01
Range of Exercise Prices, Upper Limit (in dollars per share)	$ 50.00
Stock Options Outstanding (in shares)	58,838
Stock Options Outstanding, Remaining Contractual Life	5 years 7 months 6 days
Weighted Average Exercise Price (in dollars per share)	$ 42.13
Stock Options Exercisable (in shares)	58,838
Stock Options Exercisable, Weighted Average Exercise Price (in dollars per share)	$ 42.13