Stock-Based Compensation - Analysis of Stock Options Award Activity (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
Dec. 31, 2023
Shares
Outstanding at beginning of period (in shares)	776,338
Granted (in shares)	117,026
Exercised (in shares)	(5,755)
Cancelled/Forfeited (in shares)	(74,350)
Expired (in shares)	(17,583)
Outstanding at end of period (in shares)	795,676
Exercisable at end of period (in shares)	645,476
Weighted-Average Exercise Price
Outstanding at beginning of period (in dollars per share)	$ 36.47
Granted (in dollars per share)	28.08
Exercised (in dollars per share)	27.35
Cancelled/Forfeited (in dollars per share)	35.95
Expired (in dollars per share)	27.23
Outstanding at end of period (in dollars per share)	35.55
Exercisable at end of period (in dollars per share)	$ 37.21
Outstanding, weighted-average remaining life	3 years 3 days
Exercisable, weighted-average remaining life	1 year 7 months 20 days
Outstanding, aggregate intrinsic value	$ 0
Exercisable, aggregate intrinsic value	$ 0

The number of shares into which fully or partially vested stock options outstanding as of the balance sheet date can be currently converted under the option plan.

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- Definition

The weighted-average price as of the balance sheet date at which grantees can acquire the shares reserved for issuance on vested portions of options outstanding and currently exercisable under the stock option plan.