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Benefit Plans (Tables)
 3 Months Ended
Mar. 31, 2024
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 Three Months Ended March 31,
 20242023
Risk-free interest rate4.2%4.0%
Expected life of options — years3.763.80
Expected stock price volatility39%31%
Expected dividend yield2.1%1.9%
Schedule of Stock Options Activity Under Share-based Payment Plans
The following table summarizes stock option activity under our share-based plans for the three months ended March 31, 2024:
 OptionsWeighted-Average
Exercise Price
Per Share		Weighted-Average
Remaining
Contractual Term (Years)		Aggregate
Intrinsic
Value
Outstanding as of December 31, 2023122 $5.60 
Granted17 $5.13 
Exercised(1)$3.81 
Forfeited, cancelled or expired(1)$5.82 
Outstanding as of March 31, 2024137 $5.55 5.16$5 
Exercisable as of March 31, 202495 $5.56 4.19$5 
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 three months ended March 31, 2024:
 SharesGrant Date
Fair Value Per Share
Nonvested as of December 31, 202389 $5.59 
Granted8 $5.17 
Vested(7)$6.09 
Forfeited(4)$5.63 
Nonvested as of March 31, 202486 $5.49