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Stockholders' Equity (Details) - shares shares in Thousands | 12 Months Ended |
--- | --- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Common Class A |  |  |  |
Class of Stock [Line Items] |  |  |  |
Shares, Issued | 25,170 | 25,162 | 25,134 | 25,073
Stock Issued During Period, Shares, Conversion of Convertible Securities | (8) | (20) | (16) |
Stock Issued During Period, Shares, New Issues | 0 | 8 | 45 |
Common Stock, Voting Rights | 0.1 |  |  |
Election Percentage for Board of Directors | 25.00% |  |  |
Common Class B |  |  |  |
Class of Stock [Line Items] |  |  |  |
Shares, Issued | 5,096 | 5,074 | 5,078 | 5,076
Stock Issued During Period, Shares, Conversion of Convertible Securities | (8) | (20) | (16) |
Stock Issued During Period, Shares, New Issues | 30 | 16 | 18 |
Common Stock, Voting Rights | one |  |  |

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