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401(k) Retirement Savings Plan (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Voluntary 401(k) Retirement Savings Plan [Abstract]      
Maximum annual employee contribution percentage 15.00%    
Employer contribution percentage for employee contributing 4% or greater 4.00% 4.00% 4.00%
Employer contribution percentage for employee contributing less than 4% 4.00% 4.00% 4.00%
Matching contribution percentage by employer 100.00% 100.00% 100.00%
Employer discretionary contribution percentage 1.00% 1.00% 1.00%
Employer matching contributions $ 1.4 $ 1.5 $ 1.6
Defined Contribution Plan, Tax Status [Extensible Enumeration] us-gaap:QualifiedPlanMember    
Maximum [Member]      
Voluntary 401(k) Retirement Savings Plan [Abstract]      
Employee contribution percentage matched by employer 4.00% 4.00% 4.00%