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Share-based Compensation and Equity (Tables) | 12 Months Ended
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Dec. 31, 2023
Share-Based Payment Arrangement [Abstract] |
Summary of Share-Based Compensation Expense | Share-based compensation expense was as follows:
For the years ended December 31, | 2023 |  | 2022 |  | 2021
Continuing operations |  |  |  |  |
Stock options, net of estimated forfeitures | $ | — |  |  | $ | — |  |  | $ | 468 |
Restricted stock awards | 7,114 |  |  | 8,776 |  |  | 8,427 |
Total continuing operations | $ | 7,114 |  |  | $ | 8,776 |  |  | $ | 8,895 |
Discontinued operations |  |  |  |  |
Share-based compensation expense for discontinued operations | — |  |  | — |  |  | 1,277 |
Total continuing and discontinued operations | $ | 7,114 |  |  | $ | 8,776 |  |  | $ | 10,172 |
Summary of Stock Options Activity | The following tables summarize the stock option activity and the assumptions used to record the related share-based compensation expense for the years ended December 31, 2023, 2022 and 2021:
|  | 2023 |  | 2022 |  | 2021
|  | Options | Weighted Average Exercise Price | Aggregate Intrinsic Value |  | Options | Weighted Average Exercise Price | Aggregate Intrinsic Value |  | Options | Weighted Average Exercise Price | Aggregate Intrinsic Value
Outstanding at January 1 |  | 559 |  | $ | 7.00 |  | $ | 1,461 |  |  | 2,163 |  | $ | 9.89 |  | $ | 6,098 |  |  | 3,428 |  | $ | 17.85 |  | $ | 159 |
Granted |  | — |  | — |  |  |  | — |  | — |  |  |  | — |  | — |  |
Exercised |  | (194) |  | 8.00 |  | 1,044 |  |  | (1,510) |  | 9.43 |  | 4,080 |  |  | (583) |  | 12.25 |  | 883 |
Forfeited or expired |  | (2) |  | 8.34 |  |  |  | (94) |  | 23.17 |  |  |  | (682) |  | 20.14 |  |
Outstanding at December 31 |  | 363 |  | 5.74 |  | 2,890 |  |  | 559 |  | 7.00 |  | 1,461 |  |  | 2,163 |  | 9.89 |  | 6,098 |
Exercisable at December 31 |  | 363 |  | 5.74 |  | 2,890 |  |  | 559 |  | 7.00 |  | 1,461 |  |  | 2,163 |  | 9.89 |  | 6,098 |
Vested and expected to vest |  | 363 |  | 5.74 |  | 2,890 |  |  | 559 |  | 7.00 |  | 1,461 |  |  | 2,163 |  | 9.89 |  | 6,098 |
Summary of Stock Option Plans, by Exercise Price Range |
| Options Outstanding |  | Options Exercisable |  | Assumption Range*
Exercise Prices | Number of Shares | Weighted Average Remaining Contractual Terms (Years) |  | Number of Shares | Weighted Average Remaining Contractual Terms (Years) |  | Risk-Free Interest Rate | Expected Terms in Years | Expected Volatility
Year Ended December 31, 2023 |  |  |  |  |  |  |
$4.17 - $8.09 | 363 |  | 3.98 |  | 363 |  | 3.98 |  | 1.45% - 3.05% | 3.74 - 7.12 | 36.40% - 58.84%
Year Ended December 31, 2022 |  |  |  |  |  |  |
$4.87 - $8.79 | 559 |  | 3.64 |  | 559 |  | 3.64 |  | 1.45% - 3.05% | 3.20 -7.12 | 36.40% - 58.84%
Year Ended December 31, 2021 |  |  |  |  |  |  |
$6.38 - $7.96 | 414 |  | 5.98 |  | 414 |  | 5.98 |  | 2.68% - 3.05% | 5.54 - 5.91 | 38.29% - 57.25%
$8.79 - $10.30 | 1,655 |  | 1.53 |  | 1,655 |  | 1.53 |  | 1.45% - 2.34% | 3.20 - 7.12 | 35.20% - 58.84%
$15.27 - $24.33 | 94 |  | 0.44 |  | 94 |  | 0.44 |  | 0.76% - 2.35% | 4.16 - 6.52 | 39.38% - 53.80%
* The expected dividend yield is zero for all options in all years.
Summary of Non-Vested Restricted Stock and Restricted Stock Units Activity | The following table summarizes the non-vested restricted stock and restricted stock units activity for the years ended December 31, 2023, 2022 and 2021:
|  | 2023 |  | 2022 |  | 2021
|  | Shares |  | Weighted Average Grant Date Fair Value |  | Shares |  | Weighted Average Grant Date Fair Value |  | Shares |  | Weighted Average Grant Date Fair Value
Non-vested at January 1 |  | 660 |  |  | $ | 12.92 |  |  | 691 |  |  | $ | 14.82 |  |  | 1,000 |  |  | $ | 15.81 |
Granted |  | 712 |  |  | 10.99 |  |  | 685 |  |  | 12.15 |  |  | 818 |  |  | 13.98 |
Vested |  | (519) |  |  | 12.72 |  |  | (698) |  |  | 14.05 |  |  | (822) |  |  | 15.01 |
Forfeited |  | (47) |  |  | 11.51 |  |  | (18) |  |  | 12.37 |  |  | (305) |  |  | 15.32 |
Non-vested at December 31 |  | 806 |  |  | 11.43 |  |  | 660 |  |  | 12.92 |  |  | 691 |  |  | 14.82 |

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