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Stock-Based Compensation - Narrative (Details) - USD ($)
$ in Thousands
1 Months Ended 12 Months Ended 168 Months Ended
May 31, 2021
May 31, 2014
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2022
May 20, 2020
May 19, 2020
Dec. 31, 2008
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Allocated share-based compensation expense     $ 2,827 $ 3,441 $ 4,991        
Stock-based compensation expense     3,090     $ 3,090      
Intrinsic value of options exercised     261 133 299        
Restricted Stock Awards                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Allocated share-based compensation expense     2,048 2,610 $ 3,734        
Total compensation expense that has yet to be recognized     2,572     2,572      
Intrinsic value of the unvested restricted stock awards outstanding     $ 4,306 $ 4,703   $ 4,306      
Employee Stock Award Plan-2008                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Number of authorized shares available for future issuance (in shares)     1,342,119 1,317,819   1,342,119     1,900,000
Additional shares authorized (in shares) 650,000 1,500,000 0     2,150,000      
Employee Stock Award Plan-2008 | Stock Options                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Award expiration term     10 years            
Employee Stock Award Plan-2008 | Tranche one                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Percentage of option awards vest and exercisable in installments     20.00%            
Employee Stock Award Plan-2008 | Tranche one | Restricted Stock Awards                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Vesting period of restricted stock awards     3 years            
Employee Stock Award Plan-2008 | Tranche two                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Percentage of option awards vest and exercisable in installments     33.30%            
Employee Stock Award Plan-2008 | Tranche two | Restricted Stock Awards                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Vesting period of restricted stock awards     5 years            
Director Plan - 2005                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Number of authorized shares available for future issuance (in shares)     123,397 144,352   123,397 450,000 300,000 300,000
Additional shares authorized (in shares)     0     150,000