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Debt (Details) - USD ($)
1 Months Ended
Mar. 31, 2020
Mar. 31, 2024
Dec. 31, 2023
Apr. 30, 2021
Line of Credit Facility [Line Items]        
Debt issuance costs   $ 396,000    
Prepaid loan fees   312,000 $ 419,000  
Remaining borrowing capacity   68,334,000    
Revolving credit facility | Credit Agreement April 2021        
Line of Credit Facility [Line Items]        
Long-term line of credit   0    
Line of credit | Revolving credit facility | Credit Agreement March 30, 2020        
Line of Credit Facility [Line Items]        
Debt instrument term 3 years      
Maximum borrowing capacity $ 50,000      
Long-term line of credit   $ 0    
Line of credit | Revolving credit facility | Credit Agreement April 2021        
Line of Credit Facility [Line Items]        
Maximum borrowing capacity       $ 100,000