Equity Plan - Unrecognized Compensation Cost -Nonvested Stock Options (Details)	12 Months Ended
	Dec. 31, 2023 USD ($)
Employee Stock Option [Member]
Unrecognized Compensation Cost
Total unrecognized compensation cost related to nonvested stock options granted	$ 1,203,000
Expected weighted-average period for recognition of compensation costs related to nonvested stock options	2 years 7 months 20 days
Restricted stock
Unrecognized Compensation Cost
Expected weighted-average period for recognition of compensation costs related to nonvested stock options	1 year 2 months 19 days
Restricted Stock Units (RSUs)
Unrecognized Compensation Cost
Expected weighted-average period for recognition of compensation costs related to nonvested stock options	2 years 3 months 29 days
PRSU
Unrecognized Compensation Cost
Expected weighted-average period for recognition of compensation costs related to nonvested stock options	2 years 3 months 29 days