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Equity Compensation Plans - Summary of stock option activity (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Summary Of Stock Option Activity [Abstract]      
Cash received from options exercised   $ 32 $ 33
Number of shares issuable 354,268    
Stock based compensation $ 2,089 2,516 2,257
Vesting Percentage , Fully Vest , Performace measure 50.00%    
Minimum [Member]      
Summary Of Stock Option Activity [Abstract]      
Vesting Percentage , Fully Vest , Performace measure 50.00%    
Maximum [Member]      
Summary Of Stock Option Activity [Abstract]      
Vesting Percentage , Pro rata , Performace measure 50.00%    
Employee and Nonemployee Stock Options [Member]      
Summary Of Stock Option Activity [Abstract]      
Intrinsic value of options exercised   27 27
Cash received from options exercised   32 33
Tax benefit realized from option exercises   $ 5 $ 5