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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