Equity Compensation Plans - Stock Incentive Plan (Details Textual) shares in Millions	12 Months Ended
	Dec. 31, 2023 shares
2005 Stock Incentive Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares authorized and reserved for issuance under incentive plan	27.9
Increase in number of shares authorized and reserved for issuance under incentive plan	2.9
Stock Incentive Plan 2005
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares counted for every share granted	2
Stockholder approved shares available for issuance	5.7
Stockholder approved shares available for grant	5.2