Quarterly report pursuant to Section 13 or 15(d)

Equity Incentive Plans and Stock-Based Compensation - Stock Options (Details)

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Equity Incentive Plans and Stock-Based Compensation - Stock Options (Details) - $ / shares
 6 Months Ended 12 Months Ended
Jun. 30, 2024
Jun. 30, 2023
Dec. 31, 2023
Dec. 31, 2022
Options        
Outstanding as of beginning of period (in shares) 312,000 436,000 376,000 485,000
Granted (in shares) 0 0    
Exercised (in shares) (51,000) (37,000)    
Forfeited or expired (in shares) (13,000) (12,000)    
Outstanding as of end of period (in shares) 312,000 436,000 376,000 485,000
Options vested and expected to vest as of end of period (in shares) 312,000 436,000    
Vested and exercisable as of end of period (in shares) 311,000 330,000    
Weighted-Average Exercise Price        
Outstanding as of beginning of period (in dollars per share) $ 21.47 $ 18.9 $ 18.9  
Granted (in dollars per share) 0 0    
Exercised (in dollars per share) 6.3 10.15    
Forfeited or expired (in dollars per share) 28.43 21.7    
Outstanding as of end of period (in dollars per share) 23.53 19.95 $ 21.47 $ 18.9
Options vested and expected to vest as of end of period (in dollars per share) 23.53 19.95    
Vested and exercisable as of end of period (in dollars per share) $ 23.76 $ 23.1    
Weighted-Average Remaining Contractual Term in years 5 years 10 months 24 days 7 years 4 months 24 days 6 years 2 months 12 days 7 years 3 months 18 days