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Stock-Based Compensation - Nonvested Options (Details) - $ / shares
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Shares      
Nonvested options at beginning of period (in shares) 207,911    
Granted (in shares) 146,295 103,454 432,478
Vested (in shares) (105,475)    
Canceled/Forfeited (in shares) (38,027)    
Nonvested options at end of period (in shares) 210,704 207,911  
Weighted Avg. Exercise Price      
Nonvested options at beginning of period (in dollars per share) $ 30.05    
Granted (in dollars per share) 22.25 $ 28.68 $ 39.79
Vested (in dollars per share) 27.18    
Canceled/Forfeited (in dollars per share) 27.75    
Nonvested options at end of period (in dollars per share) $ 26.49 $ 30.05