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Stock-Based Compensation - Weighted-Average Assumptions (Details)
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Weighted-average assumptions used in the Black-Scholes option-pricing model      
Risk-free interest rate 3.88% 1.40% 0.46%
Expected volatility 74.85% 71.00% 75.33%
Dividend yield 0.00% 0.00% 0.00%
Weighted-average expected life (in years) 5 years 1 month 6 days 5 years 2 months 12 days 5 years 2 months 12 days