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Nature of Operations and Summary of Significant Accounting Policies - Stock Compensation Plans (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Nature of Operations and Summary of Significant Accounting Policies      
Share based compensation expense $ 1.6 $ 1.4 $ 1.2