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Employee Benefit Plans - Other Compensation Plans (Details) - USD ($) $ in Thousands | 12 Months Ended
--- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Classification of liabilities in the Consolidated Balance Sheets |  |  |
Other long-term liabilities | $ 3,160 | $ 3,516 |
Total liabilities | 3,160 | 3,516 |
Plan expenses | $ 1,700 | $ 1,500 | $ 1,500

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