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Stock-Based Compensation (Details Textuals) - USD ($)
$ in Thousands
9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Share-based Compensation Arrangement by Share-based Payment Award    
Intrinsic value of stock options exercised $ 272 $ 3,000
Total fair value of vested stock options $ 955 2,000
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 $ 265 587
Unvested share-based payment awards 113  
Share-based Payment Arrangement, Expense $ 265 $ 587
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 $ 14,000 $ 13,000
Unvested share-based payment awards 23,000  
Share-based Payment Arrangement, Expense 14,000 $ 13,000
Share-based Payment Arrangement, Accelerated Cost $ 3,000  
Remaining requisite service periods, extend through first quarter of 2027