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Director Shares (Details) - Director - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Shares issued to directors 29,471 60,510 267,576
Stock-based compensation expense $ 1.5 $ 1.2 $ 1.0