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Convertible Debt - Narrative (Details) - USD ($)			3 Months Ended
	Mar. 01, 2024	Mar. 01, 2019	Mar. 31, 2024	Mar. 31, 2023	Feb. 19, 2019
Debt Instrument [Line Items]
Repayment of convertible senior notes			$ 16,415,000	$ 0
Non-cash interest expense			177,833	313,488
Convertible senior notes | Convertible Debt
Debt Instrument [Line Items]
Debt instrument, face amount		$ 78,500,000			$ 78,500,000
Debt interest based on the fixed rate (in percent)		6.50%			6.50%
Proceeds from issuance of debt		$ 75,700,000
Repayment of convertible senior notes	$ 16,900,000
Non-cash interest expense			178,000	313,000
Interest expense, contractual interest			$ 178,000	$ 267,000

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