Equity Plan - Unrecognized Compensation Cost -Nonvested Stock Options (Details)	3 Months Ended
	Mar. 31, 2024 USD ($)
Employee Stock Option [Member]
Unrecognized Compensation Cost
Total unrecognized compensation cost related to nonvested stock options granted	$ 1,014,000
Expected weighted-average period for recognition of compensation costs related to nonvested stock options	2 years 5 months 23 days
Restricted stock
Unrecognized Compensation Cost
Total unrecognized compensation cost related to nonvested stock options granted	$ 1,056,000
Expected weighted-average period for recognition of compensation costs related to nonvested stock options	1 year 1 month 2 days
Restricted Stock Units (RSUs)
Unrecognized Compensation Cost
Total unrecognized compensation cost related to nonvested stock options granted	$ 2,508,000
Expected weighted-average period for recognition of compensation costs related to nonvested stock options	2 years 8 months 8 days
PRSU
Unrecognized Compensation Cost
Total unrecognized compensation cost related to nonvested stock options granted	$ 1,764,000
Expected weighted-average period for recognition of compensation costs related to nonvested stock options	2 years 7 months 6 days