Employee Stock Purchase Plan, Stock Options and Warrants - Option Granted Fair Value Calculation Assumptions (Details)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Expected dividend yield	0.00%	0.00%
Employee Stock Option [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Risk-free interest rate, minimum	3.60%	1.40%	0.50%
Risk-free interest rate, maximum	4.80%	4.30%	1.10%
Expected option term / Performance Period	4 years	4 years	4 years
Expected price volatility, minimum	39.60%	46.20%	46.10%
Expected price volatility, maximum	47.10%	47.50%	46.70%