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Stock-Based Compensation (Details Textuals) - USD ($)
$ in Thousands
3 Months Ended
Mar. 31, 2022
Mar. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award    
Intrinsic value of stock options exercised $ 3,000 $ 3,000
Total fair value of vested stock options $ 2,000 3,000
Minimum    
Share-based Compensation Arrangement by Share-based Payment Award    
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage 0.00%  
Maximum    
Share-based Compensation Arrangement by Share-based Payment Award    
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage 150.00%  
Employee Stock Option    
Share-based Compensation Arrangement by Share-based Payment Award    
Recognized compensation expense for vesting $ 241 $ 403
Recognized compensation expense for accelerated vesting 0  
Unvested share-based payment awards $ 1,000  
Remaining requisite service periods, extend through first quarter of 2024  
Performance-based Restricted Stock Award    
Share-based Compensation Arrangement by Share-based Payment Award    
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period 3 years 3 years
Service-based Restricted Stock Award    
Share-based Compensation Arrangement by Share-based Payment Award    
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period 4 years 4 years
Restricted Stock Award    
Share-based Compensation Arrangement by Share-based Payment Award    
Recognized compensation expense for vesting $ 6,000 $ 3,000
Recognized compensation expense for accelerated vesting 3,000  
Unvested share-based payment awards $ 31,000  
Remaining requisite service periods, extend through first quarter of 2026