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Employee's Stock Purchase Plan (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Employee Stock Purchase Plan (ESPP) Disclosures [Line Items]      
Proceeds from issuance of common stock under ESPP $ 5,260 $ 5,617 $ 7,114
Common stock, shares authorized (in shares) 250,000,000 250,000,000  
EmployeeStockPurchasePlan      
Employee Stock Purchase Plan (ESPP) Disclosures [Line Items]      
ESPP discount on shares of common stock 15.00%    
Issuance of shares (in shares) 53,078 73,461 55,068
Proceeds from issuance of common stock under ESPP $ 5,300 $ 5,600 $ 7,100
Share-based compensation expense $ 900 $ 1,000 $ 1,300
Common stock, shares authorized (in shares) 500,000    
Remaining shares available for issuance 106,715