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Share Based Compensation, Outstanding Stock Option Grants and Related Transactions (Details) - Stock Options [Member]
$ / shares in Units, $ in Thousands
3 Months Ended
Mar. 31, 2021
USD ($)
$ / shares
shares
Number of Shares [Roll Forward]  
Outstanding, beginning balance (in shares) 121,189
Granted (in shares) 0
Exercised (in shares) (19,050)
Forfeited (in shares) 0
Expired (in shares) 0
Outstanding, ending balance (in shares) 102,139
Vested and expected to vest, period end (in shares) 102,139
Exercisable, period end (in shares) 102,139
Average Exercise Price [Roll Forward]  
Outstanding, beginning balance (in dollars per share) | $ / shares $ 4.81
Exercised (in dollars per share) | $ / shares 3.16
Outstanding, ending balance (in dollars per share) | $ / shares 5.12
Vested and expected to vest, period end (in dollars per share) | $ / shares 5.12
Exercisable, period end (in dollars per share) | $ / shares $ 5.12
Weighted-Average Remaining Contractual Term (Years) [Abstract]  
Outstanding, weighted average remaining contractual term 2 years
Vested and expected to vest, weighted-average remaining contractual term 2 years
Exercisable, weighted average remaining contractual term 2 years
Aggregate Intrinsic Value [Abstract]  
Outstanding, aggregate intrinsic value | $ $ 1,892
Vested and expected to vest, aggregate intrinsic value | $ 1,892
Exercisable, aggregate intrinsic value | $ $ 1,892