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Employee Benefit Plans and Stock-based Compensation (Details) - USD ($) | 1 Months Ended | 12 Months Ended
--- | --- | ---
May 31, 2021 | May 31, 2019 | May 31, 2015 | May 31, 2013 | Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Employee Stock Option [Member] |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award |  |  |  |  |  |  |
Exercised (in shares) |  |  |  |  | 4,000 | 172,000 | 507,000
Intrinsic value of options exercised |  |  |  |  | $ 7,000 | $ 800,000 | $ 3,700,000
1997 Stock Option Plan |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award |  |  |  |  |  |  |
Number of shares available for grant (in shares) |  |  |  |  | 1,928,994 |  |
2007 Equity Incentive Plan |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award |  |  |  |  |  |  |
Number of shares authorized for issuance (in shares) |  |  |  |  | 1,300,000 |  |
Number of additional shares authorized for issuance (in shares) |  |  |  | 2,000,000 |  |  |
2007 Equity Incentive Plan | Employee Stock Option [Member] |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award |  |  |  |  |  |  |
Vesting period |  |  |  |  | 3 years |  |
2007 Equity Incentive Plan | Restricted stock awards | Time based vesting |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award |  |  |  |  |  |  |
Vesting period |  |  |  |  | 3 years |  |
2007 Equity Incentive Plan | Restricted stock awards | Performance Based Vesting |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award |  |  |  |  |  |  |
Vesting period |  |  |  |  | 12 months |  |
2007 Equity Incentive Plan | Maximum | Employee Stock Option [Member] |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award |  |  |  |  |  |  |
Expected term |  |  |  |  | 10 years |  |
2015 Equity Incentive Plan |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award |  |  |  |  |  |  |
Number of shares authorized for issuance (in shares) |  |  | 399,562 |  |  |  |
Number of additional shares authorized for issuance (in shares) | 3,600,000 | 1,600,000 | 3,000,000 |  |  |  |
Number of shares available for grant (in shares) |  |  |  |  | 1,700,000 |  |
2015 Equity Incentive Plan | Consultant |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award |  |  |  |  |  |  |
Vesting period |  |  |  |  | 1 year |  |
2015 Equity Incentive Plan | Employee Stock Option [Member] |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award |  |  |  |  |  |  |
Vesting period |  |  |  |  | 4 years |  |
2015 Equity Incentive Plan | Restricted stock awards | Time based vesting |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award |  |  |  |  |  |  |
Vesting period |  |  |  |  | 3 years |  |
2015 Equity Incentive Plan | Restricted stock awards | Performance Based Vesting |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award |  |  |  |  |  |  |
Vesting period |  |  |  |  | 12 months |  |
2015 Equity Incentive Plan | Maximum | Employee Stock Option [Member] |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award |  |  |  |  |  |  |
Expected term |  |  |  |  | 10 years |  |

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