Stock Plans - ESPP FV Assumptions (Details) - ESPP - USD ($) $ / shares in Units, $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Share-based compensation
Cash proceeds	$ 4.6	$ 3.7	$ 3.4
Number of shares issued	258,153	208,140	196,024
Assumptions
Weighted average fair value (in dollars per share)	$ 5.77	$ 6.00	$ 5.90
Dividend yield (as a percent)	0.00%	0.00%	0.00%
Expected volatility factor (as a percent)	42.00%	43.00%	52.00%
Risk-free interest rate (as a percent)	5.03%	1.73%	0.07%
Expected life (in years)	6 months	6 months	6 months