Stockholders' Equity - ESPP Activity (Details) - ESPP - shares	12 Months Ended
Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Share-Based Compensation Arrangement By Share-Based Payment Award, Shares Available [Roll Forward]
Beginning balance, equity securities available (in shares)	133,184	133,184	149,199
Less: common stock purchased by eligible employees (shares)	(23,422)	0	(16,015)
Ending balance, equity securities available (in shares)	109,762	133,184	133,184

Number of share options (or share units) exercised during the current period.

Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
-Name Accounting Standards Codification
-Section 50
-Paragraph 2
-SubTopic 10
-Topic 505
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147481112/505-10-50-2

Reference 2: http://www.xbrl.org/2003/role/disclosureRef
-Topic 718
-SubTopic 10
-Name Accounting Standards Codification
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Reference 3: http://fasb.org/us-gaap/role/ref/legacyRef
-Topic 210
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-Section S99
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Reference 4: http://fasb.org/us-gaap/role/ref/legacyRef
-Topic 505
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-Topic 210
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Data Type:	xbrli:sharesItemType
Balance Type:	na
Period Type:	duration