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Shareholders' Equity - Plan Information (Details) - shares
12 Months Ended
May 14, 2010
Dec. 31, 2023
Dec. 31, 2022
Stock-Based Compensation      
Common stock authorized for issuance (in shares)   9,500,000  
Period of service restrictions   3 years  
Employee Stock Option      
Stock-Based Compensation      
Options outstanding (in shares)   967,560 1,173,625
Minimum | Employee Stock Option      
Stock-Based Compensation      
Vesting period   3 years  
Minimum | Restricted stock units      
Stock-Based Compensation      
Period of service restrictions   1 year  
Minimum | Restricted stock awards      
Stock-Based Compensation      
Period of service restrictions   1 year  
Maximum | Employee Stock Option      
Stock-Based Compensation      
Vesting period   4 years  
Period of service restrictions   4 years  
Maximum | Restricted stock awards      
Stock-Based Compensation      
Period of service restrictions   4 years  
2010 Plan      
Stock-Based Compensation      
Common stock authorized for issuance (in shares) 8,000,000    
2010 Plan | Employee Stock Option      
Stock-Based Compensation      
Options granted (in shares)   5,545,090  
Options outstanding (in shares)   304,098  
2010 Plan | Restricted stock units      
Stock-Based Compensation      
Stock units awarded (in shares)   570,011  
2010 Plan | Minimum      
Stock-Based Compensation      
Vesting period 3 years    
2010 Plan | Maximum      
Stock-Based Compensation      
Vesting period 5 years    
2016 Incentive Compensation Plan | Employee Stock Option      
Stock-Based Compensation      
Options granted (in shares)   1,636,907  
Options outstanding (in shares)   663,462  
2016 Incentive Compensation Plan | Restricted stock units      
Stock-Based Compensation      
Stock units awarded (in shares)   2,745,861  
Stock units awarded outstanding (in shares)   702,047  
2016 Incentive Compensation Plan | Minimum      
Stock-Based Compensation      
Vesting period   1 year  
2016 Incentive Compensation Plan | Maximum      
Stock-Based Compensation      
Period of service restrictions   4 years  
2022 Employee Stock Purchase Plan      
Stock-Based Compensation      
Common stock authorized for issuance (in shares)   2,500,000  
Employees Contribution   10.00%  
Employee Stock Purchase Plan Period   Each plan enrollment period covers six months beginning June 1 and December 1 of each year  
Percentage of purchase price per share of Company stock   90.00%