Equity Incentive Plans and Stock-Based Compensation (Details) - Stock compensation plan	3 Months Ended
	Mar. 31, 2024 shares
Shares available for grant
Shares available as of beginning of period	11,954,150
Options expired	1,125
Nonvested equity stock and stock units granted (in shares)	(54,262)	[1]
Nonvested equity stock and stock units forfeited (in shares)	113,108	[1]
Shares available as of end of period	12,014,121
Award date, Period 1
Shares available for grant
Conversion factor used to calculate the decrease in the number of shares available for grant resulting from the grant of restricted stock awards	1.5
Conversion factor used to calculate the increase in the number of shares available for grant resulting from the forfeiture of restricted stock awards	1.5
Award date, Period 2
Shares available for grant
Conversion factor used to calculate the decrease in the number of shares available for grant resulting from the grant of restricted stock awards	1.0
Conversion factor used to calculate the increase in the number of shares available for grant resulting from the forfeiture of restricted stock awards	1.0

[1] For purposes of determining the number of shares available for grant under the 2015 Plan against the maximum number of shares authorized, each restricted stock unit granted prior to April 27, 2023 reduces the number of shares available for grant by 1.5 shares and each restricted stock unit forfeited increases shares available for grant by 1.5 shares. Each restricted stock unit granted on or after April 27, 2023 reduces the number of shares available for grant by 1.0 shares and each restricted stock unit forfeited increases shares available for grant by 1.0 shares.