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Accumulated Other Comprehensive Income - Components of Accumulated Other Comprehensive Income (Loss) (Details) - USD ($) $ in Thousands | Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
--- | --- | --- | --- | ---
Equity [Abstract] |  |  |  |
Unrealized (loss) gain on available for sale securities, income tax (benefit) expense | $ (168) | $ (571) |  |
Unrealized loss on interest rate swaps, income tax expense (benefit) | 972 | 1,924 |  |
Accumulated Other Comprehensive Income (Loss) [Line Items] |  |  |  |
Total stockholders' equity | 791,618 | 713,452 | $ 704,548 | $ 702,620
Accumulated Other Comprehensive (Loss) Income |  |  |  |
Accumulated Other Comprehensive Income (Loss) [Line Items] |  |  |  |
Total stockholders' equity | 1,778 | 3,604 | $ (967) | $ (2,269)
Net unrealized loss on available-for-sale securities, net of income tax benefit of $168 and $571, respectively |  |  |  |
Accumulated Other Comprehensive Income (Loss) [Line Items] |  |  |  |
Total stockholders' equity | (505) | (1,518) |  |
Net unrealized gain on interest rate swap, net of income tax expense of $972 and $1,924, respectively |  |  |  |
Accumulated Other Comprehensive Income (Loss) [Line Items] |  |  |  |
Total stockholders' equity | 3,064 | 5,885 |  |
Foreign currency translation |  |  |  |
Accumulated Other Comprehensive Income (Loss) [Line Items] |  |  |  |
Total stockholders' equity | $ (781) | $ (763) |  |

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