Annual report pursuant to Section 13 and 15(d)

Stock Incentive Plan - Employee Stock Purchase Plan (Details)

v3.24.0.1
Stock Incentive Plan - Employee Stock Purchase Plan (Details) - USD ($)
$ / shares in Units, $ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Schedule of Employee Stock Purchase Plan (ESPP) Disclosures [Line Items]      
Share-based compensation expense $ 11,495 $ 10,661 $ 10,500
Employee Stock Purchase Plan | Continuing Operations      
Schedule of Employee Stock Purchase Plan (ESPP) Disclosures [Line Items]      
Shares purchased by employees (in shares) 10,000 8,000 11,000
Average purchase price (in dollars per share) $ 69.81 $ 82.48 $ 75.71
Weighted-average fair value of each purchase (in dollars per share) $ 7.76 $ 9.17 $ 30.68
Share-based compensation expense $ 76 $ 78 $ 344
Employee Stock Purchase Plan | Discontinued Operations      
Schedule of Employee Stock Purchase Plan (ESPP) Disclosures [Line Items]      
Shares purchased by employees (in shares) 1,000 1,000 1,000
Average purchase price (in dollars per share) $ 69.81 $ 82.48 $ 75.71
Weighted-average fair value of each purchase (in dollars per share) $ 7.76 $ 9.17 $ 30.68
Share-based compensation expense $ 13 $ 9 $ 25