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Stock-Based Compensation - Stock Award Plans (Details) - shares
1 Months Ended 12 Months Ended 180 Months Ended
May 31, 2021
May 31, 2014
Dec. 31, 2023
Dec. 31, 2023
Share-based Compensation Arrangement by Share-based Payment Award Available for Grant [Roll Forward]        
Number of option awards exercised (in shares)     5,755  
Employee Stock Award Plan-2008        
Share-based Compensation Arrangement by Share-based Payment Award Available for Grant [Roll Forward]        
Beginning balance (in shares)     1,334,790 1,900,000
Additional shares authorized (in shares) 650,000 1,500,000 0 2,150,000
Number of awards granted (in shares)     (351,716) (3,973,857)
Number of awards forfeited or expired (in shares)     167,760 1,074,691
Ending balance (in shares)     1,150,834 1,150,834
Employee Stock Award Plan-2008 | Stock Options        
Share-based Compensation Arrangement by Share-based Payment Award Available for Grant [Roll Forward]        
Number of option awards exercised (in shares)     4,000 1,537,336
Employee Stock Award Plan-2008 | Unrestricted Stock Awards        
Share-based Compensation Arrangement by Share-based Payment Award Available for Grant [Roll Forward]        
Number of awards granted (in shares)     0 (10,090)
Employee Stock Award Plan-2008 | Restricted Stock Awards        
Share-based Compensation Arrangement by Share-based Payment Award Available for Grant [Roll Forward]        
Number of restricted stock awards vested (in shares)     32,591 300,436
Director Plan - 2005        
Share-based Compensation Arrangement by Share-based Payment Award Available for Grant [Roll Forward]        
Beginning balance (in shares)     123,397 300,000
Additional shares authorized (in shares)     0 150,000
Number of awards granted (in shares)     (31,380) (386,618)
Number of awards forfeited or expired (in shares)     11,583 40,218
Ending balance (in shares)     103,600 103,600
Director Plan - 2005 | Stock Options        
Share-based Compensation Arrangement by Share-based Payment Award Available for Grant [Roll Forward]        
Number of option awards exercised (in shares)     1,755 152,336
Director Plan - 2005 | Restricted Stock Awards        
Share-based Compensation Arrangement by Share-based Payment Award Available for Grant [Roll Forward]        
Number of restricted stock awards vested (in shares)     20,955 137,956