CONSOLIDATED BALANCE SHEETS (Parenthetical) - $ / shares	Dec. 31, 2023	Dec. 31, 2022
Common stock, par value (in dollars per share)	$ 0.001	$ 0.001
Common stock, shares authorized (in share)	50,000,000	50,000,000
Common stock, shares, issued (in shares)	20,343,359	20,156,233
Common stock, shares, outstanding (in shares)	18,968,798	18,780,013
Treasury stock, shares (in share)	1,376,220	1,376,220
Convertible Senior Notes 2028 | Convertible Debt
Stated interest rate (as a percent)	5.50%