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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, 2024
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Number of Shares        
Options outstanding, beginning balance (in shares) 303,777 329,705 365,381  
Granted (in shares)   10,040 39,094  
Cancelled, expired or forfeited (in shares) (25,594) (23,804) (23,760)  
Exercised (in shares)   (12,164) (51,010)  
Options outstanding, ending balance (in shares) 278,183 303,777 329,705 365,381
Exercisable (vested), ending balance (in shares) 273,242 283,578 287,228  
Weighted Average Exercise Price        
Options outstanding, beginning balance (in dollars per share) $ 33.22 $ 33.22 $ 31.97  
Granted (in dollars per share)   32.54 34.16  
Cancelled, expired or forfeited (in dollars per share) 29.81 35.06 37.48  
Exercised (in dollars per share)   20.25 23.01  
Options outstanding, ending balance (in dollars per share) 33.92 33.22 33.22 $ 31.97
Exercisable (vested), ending balance (in dollars per shares) $ 33.92 $ 33.46 $ 32.81  
Aggregate Intrinsic Value        
Options outstanding, beginning balance $ 1 $ 813 $ 2,326  
Exercised   88 617  
Options outstanding, ending balance 2 1 813 $ 2,326
Exercisable (vested) $ 2 $ 1 $ 813  
Weighted Average Grant-Date Fair Value        
Granted (in dollars per share)   $ 8.49 $ 8.49  
Weighted Average Remaining Contractual Term (in years)        
Options outstanding 3 years 11 months 4 days 4 years 10 months 9 days 5 years 7 months 2 days 5 years 6 months 25 days
Exercisable (vested) 3 years 10 months 13 days 4 years 7 months 24 days 5 years 1 month 24 days