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Stock-Based Compensation - Narrative (Details)
$ in Thousands
12 Months Ended
Dec. 31, 2022
USD ($)
installment
shares
Dec. 31, 2021
USD ($)
Dec. 31, 2020
USD ($)
Stock options      
Shares authorized for issuance (in shares) | shares 975,000    
Shares available for issuance (in shares) | shares 951,868    
Common stock options exercised $ 2,069 $ 4,930 $ 4,459
Fair value of stock options vested $ 600    
Stock Options      
Stock options      
Vesting period 5 years    
Expiration term 10 years    
Intrinsic value of options exercised $ 3,500 $ 8,000 $ 1,900
Unrecognized pre-tax compensation expense $ 700    
Unrecognized pre-tax compensation expense, recognition period 2 years 10 months 24 days    
RSUs      
Stock options      
Unrecognized pre-tax compensation expense $ 3,700    
Unrecognized pre-tax compensation expense, recognition period 2 years 2 months 12 days    
Granted (in shares) | shares 95,723    
Fair value of RSUs vested $ 2,900    
Time Based, Restricted Stock Units      
Stock options      
Vesting period 5 years    
Granted (in shares) | shares 53,070    
Number of vesting installments | installment 5    
Time Based, Restricted Stock Units | Director      
Stock options      
Vesting period 1 year    
Performance Based, Restricted Stock Units      
Stock options      
Vesting period 3 years    
Granted (in shares) | shares 42,653