Benefit Plans (Tables)

12 Months Ended

Dec. 31, 2023

Retirement Benefits [Abstract]

Schedule of Fair Value of Options Granted

The following table summarizes the weighted-average assumptions used to compute the fair value of options granted to employees, members of our board of directors and non-employees:

	For the Years Ended December 31,
	2023	2022	2021
Risk-free interest rate	4.0%	2.0%	0.6%
Expected life of options — years	3.8	3.40	6.06
Expected stock price volatility	32%	31%	33%
Expected dividend yield	2.0%	1.3%	1.0%

Schedule of Stock Options Activity Under Share-based Payment Plans

The following table summarizes stock option activity under our share-based plans for the years ended December 31, 2023, 2022 and 2021:

	Options	Weighted-Average Exercise Price Per Share		Weighted-Average Remaining Contractual Term (Years)	Aggregate Intrinsic Value
Outstanding at the beginning of January 1, 2021	184	$	4.73
Granted	54	$	6.14
Exercised	(72)	$	3.98
Forfeited, cancelled or expired	(5)	$	6.73
Outstanding as of December 31, 2021	161	$	5.47
Granted	11	$	6.46
Exercised	(35)	$	4.31
Forfeited, cancelled or expired	(3)	$	6.52
Outstanding as of December 31, 2022	134	$	5.55
Granted	9	$	4.92
Exercised	(12)	$	4.33
Forfeited, cancelled or expired	(9)	$	5.91
Outstanding as of December 31, 2023	122	$	5.60	4.88	$	40
Exercisable as of December 31, 2023	80	$	5.50	4.29	$	36

Schedule of Restricted Stock Unit and Stock Award Activity

The following table summarizes the restricted stock unit, including PRSU, activity under our share-based plans for the years ended December 31, 2023, 2022 and 2021:

	Shares	Grant Date Fair Value Per Share
Nonvested at the beginning of January 1, 2021	75	$	6.06
Granted	40	$	6.35
Vested	(26)	$	6.02
Forfeited	(9)	$	6.11
Nonvested as of December 31, 2021	80	$	6.22
Granted	46	$	6.55
Vested	(32)	$	6.18
Forfeited	(9)	$	6.36
Nonvested as of December 31, 2022	85	$	6.38
Granted	47	$	4.72
Vested	(31)	$	6.39
Forfeited	(12)	$	6.15
Nonvested as of December 31, 2023	89	$	5.59