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Shareholders’ Equity (Details Narrative) - USD ($) | 12 Months Ended
--- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Accumulated Other Comprehensive Income (Loss) [Line Items] |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Grants in Period, Weighted Average Grant Date Fair Value |  | $ 5.42 | $ 2.65
Share-Based Compensation Arrangement by Share-Based Payment Award, Fair Value Assumptions, Expected Volatility Rate, Minimum |  | 75.00% | 79.00%
Share-Based Compensation Arrangement by Share-Based Payment Award, Fair Value Assumptions, Expected Volatility Rate, Maximum |  | 80.00% | 71.00%
Stock-based compensation expense | $ 3,500,000 | $ 4,400,000 | $ 2,000,000
Unrecognized stock-based compensation costs | $ 6,000,000 |  |
Weighted-average period for unrecognized costs | 1 year 9 months 18 days |  |
Intrinsic value options outstanding | $ 8,100,000 | 11,200,000 |
Intrinsic value of options exercisable | 6,100,000 | 7,800,000 |
Intrinsic value of options exercised | 14,500,000 | $ 23,400,000 |
Proceeds from options exercised | $ 16,600,000 |  |
Plan 2006 [Member] |  |  |
Accumulated Other Comprehensive Income (Loss) [Line Items] |  |  |
Options authorized under plan | 22,200,000 |  |
Shares available for grant | 2,684,000 |  |
Common Stock [Member] |  |  |
Accumulated Other Comprehensive Income (Loss) [Line Items] |  |  |
Stock Repurchased and Retired During Period, Shares | 1,976,356 | 4,139,664 |
Shares Acquired, Average Cost Per Share | $ 10.26 | $ 11.11 |
Stock Repurchase Program, Authorized Amount | $ 35,000,000 |  |
Stock Repurchase Program, Remaining Authorized Repurchase Amount | $ 1,500,000 |  |

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- Definition Weighted-average period over which cost not yet recognized is expected to be recognized for award under share-based payment arrangement, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (i) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition Amount of cash inflow from issuance of shares under share-based payment arrangement. Includes, but is not limited to, option exercised. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Section 45 -Paragraph 14 -Subparagraph (a) -SubTopic 10 -Topic 230 -Publisher FASB -URI https://asc.fasb.org//1943274/2147482740/230-10-45-14 Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Section 50 -Paragraph 2A -Subparagraph (a) -SubTopic 10 -Topic 718 -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2A + Details
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- Definition The estimated measure of the maximum percentage by which a share price is expected to fluctuate during a period. Volatility also may be defined as a probability-weighted measure of the dispersion of returns about the mean. The volatility of a share price is the standard deviation of the continuously compounded rates of return on the share over a specified period. That is the same as the standard deviation of the differences in the natural logarithms of the stock prices plus dividends, if any, over the period. + References No definition available. + Details
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- Definition The estimated measure of the minimum percentage by which a share price is expected to fluctuate during a period. Volatility also may be defined as a probability-weighted measure of the dispersion of returns about the mean. The volatility of a share price is the standard deviation of the continuously compounded rates of return on the share over a specified period. That is the same as the standard deviation of the differences in the natural logarithms of the stock prices plus dividends, if any, over the period. + References No definition available. + Details
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- Definition The difference between the maximum number of shares (or other type of equity) authorized for issuance under the plan (including the effects of amendments and adjustments), and the sum of: 1) the number of shares (or other type of equity) already issued upon exercise of options or other equity-based awards under the plan; and 2) shares (or other type of equity) reserved for issuance on granting of outstanding awards, net of cancellations and forfeitures, if applicable. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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