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Basis of Presentation and Summary of Significant Accounting Policies - Calculation of Earnings per Share (Details) - shares shares in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Earnings Per Share, Diluted, by Common Class, Including Two Class Method
Weighted-average common shares outstanding - basic (in shares)	17,298	16,868	16,630
Shares used to compute diluted income per share (in shares)	17,757	16,868	17,246
Potentially dilutive shares excluded from calculation due to anti-dilutive effect (shares)	4,357	6,241	4,793
Restricted stock
Earnings Per Share, Diluted, by Common Class, Including Two Class Method
Dilutive potential common shares (in shares)	85	0	96
Employee Stock Option
Earnings Per Share, Diluted, by Common Class, Including Two Class Method
Dilutive potential common shares (in shares)	255	0	520
Convertible Debt Securities
Earnings Per Share, Diluted, by Common Class, Including Two Class Method
Dilutive potential common shares (in shares)	119	0	0

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