CONDENSED CONSOLIDATED BALANCE SHEETS (Parenthetical) - $ / shares	Mar. 31, 2024	Dec. 31, 2023
Common stock, par value (in dollars per share)	$ 0.001	$ 0.001
Common stock, shares authorized (in shares)	50,000,000	50,000,000
Common stock, shares issued (in shares)	20,578,403	20,343,359
Common stock, shares outstanding (in shares)	19,205,361	18,968,798
Treasury stock, shares (in shares)	1,373,042	1,374,561
5.50% Convertible Senior Notes Due 2028 | Convertible Debt
Stated interest rate (as a percent)	5.50%