Common Stock, Preferred Stock and Equity Plans - Stock and Option Plans (Details) shares in Thousands	Dec. 31, 2023 shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Awards outstanding (in shares)	6,097
Additional awards authorized for grant (in shares)	16,509
2013 Stock and Option Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Awards outstanding (in shares)	6,054
Additional awards authorized for grant (in shares)	16,509
2006 Stock and Option Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Awards outstanding (in shares)	43
Additional awards authorized for grant (in shares)	0