Stock-Based Compensation - Employee Stock Purchase Plan (Details) - shares	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
2004 ESPP Plan
Stock-Based Compensation
Available for issuance (in shares)	163,503
Common stock reserved for issuance (in shares)	276,666
Purchase price of fair value of common stock (in percent)	85.00%
Issued (in shares)	12,729	12,243	21,867
2008 Plan
Stock-Based Compensation
Available for issuance (in shares)	0