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Employee Benefit Plans and Stock-based Compensation (Details) - USD ($)	1 Months Ended					12 Months Ended
	May 31, 2024	May 31, 2021	May 31, 2019	May 31, 2015	May 31, 2013	Dec. 31, 2024	Dec. 31, 2023	Dec. 31, 2022
Employee Stock Option [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Exercised (in shares)						12,000	4,000	172,000
Intrinsic value of options exercised						$ 29,000	$ 7,000	$ 800,000
1997 Stock Option Plan
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Number of shares available for grant (in shares)						1,928,994
2007 Equity Incentive Plan
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
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 [Line Items]
Vesting period						3 years
2007 Equity Incentive Plan \| Restricted Stock [Member] \| Time based vesting
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Vesting period						3 years
2007 Equity Incentive Plan \| Restricted Stock [Member] \| Performance Based Vesting
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Vesting period						12 months
2007 Equity Incentive Plan \| Maximum \| Employee Stock Option [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Expected term						10 years
2015 Equity Incentive Plan
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Number of shares authorized for issuance (in shares)				399,562
Number of additional shares authorized for issuance (in shares)	3,600,000	3,600,000	1,600,000	3,000,000
Number of shares available for grant (in shares)						3,700,000
2015 Equity Incentive Plan \| Consultant
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Vesting period						1 year
2015 Equity Incentive Plan \| Employee Stock Option [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Vesting period						4 years
2015 Equity Incentive Plan \| Restricted Stock [Member] \| Time based vesting
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Vesting period						3 years
2015 Equity Incentive Plan \| Restricted Stock [Member] \| Performance Based Vesting
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Vesting period						12 months
2015 Equity Incentive Plan \| Maximum \| Employee Stock Option [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Expected term						10 years