Stock Plans (Details 1) - Employee Stock Purchase Plan [Member] - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Defined Benefit Plan Disclosure [Line Items]
Maximum employee contribution to ESPP	$ 25
Maximum employee contribution to ESPP, percent of base compensation	10.00%
Common stock discount purchase price	95.00%
Shares available under employee stock purchase plan (in shares)	4,550,000
Shares purchased under ESPP (in shares)	9,979	11,101	7,667
Proceeds from stock plans	$ 353	$ 363	$ 344
Number of shares available under employee stock purchase plan (in shares)	222,041