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Property, Plant and Equipment, Net
 12 Months Ended
Dec. 31, 2023
Property, Plant and Equipment [Abstract]  
Property, Plant and Equipment, Net Property, Plant and Equipment, Net    
The components of property, plant and equipment, net, are:
December 31,
(in thousands)20232022
Land$199 $199 
Building and improvements8,124 8,176 
Rental property2,749 2,749 
Software17,175 12,393 
Furniture and equipment14,885 13,902 
Construction in process228 181 
43,360 37,600 
Less accumulated depreciation(27,605)(24,639)
$15,755 $12,961 

The estimated useful lives of buildings and improvements and rental property are 15 to 40 years. The estimated useful lives of furniture and equipment range from three to eight years. The estimated useful life on software is three to five years. Depreciation expense was $2.9 million, $3.3 million, and $2.3 million, for the years ended December 31, 2023, 2022, and 2021, respectively.