Shareholders’ Equity (Details Narrative) - USD ($)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Accumulated Other Comprehensive Income (Loss) [Line Items]
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Grants in Period, Weighted Average Grant Date Fair Value		$ 5.42	$ 2.65
Share-Based Compensation Arrangement by Share-Based Payment Award, Fair Value Assumptions, Expected Volatility Rate, Minimum		75.00%	79.00%
Share-Based Compensation Arrangement by Share-Based Payment Award, Fair Value Assumptions, Expected Volatility Rate, Maximum		80.00%	71.00%
Stock-based compensation expense	$ 3,500,000	$ 4,400,000	$ 2,000,000
Unrecognized stock-based compensation costs	$ 6,000,000
Weighted-average period for unrecognized costs	1 year 9 months 18 days
Intrinsic value options outstanding	$ 8,100,000	11,200,000
Intrinsic value of options exercisable	6,100,000	7,800,000
Intrinsic value of options exercised	14,500,000	$ 23,400,000
Proceeds from options exercised	$ 16,600,000
Plan 2006 [Member]
Accumulated Other Comprehensive Income (Loss) [Line Items]
Options authorized under plan	22,200,000
Shares available for grant	2,684,000
Common Stock [Member]
Accumulated Other Comprehensive Income (Loss) [Line Items]
Stock Repurchased and Retired During Period, Shares	1,976,356	4,139,664
Shares Acquired, Average Cost Per Share	$ 10.26	$ 11.11
Stock Repurchase Program, Authorized Amount	$ 35,000,000
Stock Repurchase Program, Remaining Authorized Repurchase Amount	$ 1,500,000