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Stock-Based Compensation | 6 Months Ended
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Jun. 30, 2023
Share-Based Payment Arrangement [Abstract] |
Stock-Based Compensation | Stock-Based Compensation Incentive Award Plan Effective as of June 19, 2015, the Company's Board adopted the Incentive Award Plan, under which the Company may grant cash and equity incentive awards to eligible employees, directors, and consultants. The Company is authorized to issue or transfer up to 3,000,000 shares (the "Share Limit") of the Company's common stock pursuant to awards granted under the Incentive Award Plan. As of June 30, 2023, 531,823 shares were available for future issuance under the Incentive Award Plan. Outstanding restricted stock unit ("RSU") awards are categorized as either time-based awards, performance-based awards, or market-based awards. All awards are granted at fair value, earn dividends throughout the vesting period, and have no voting rights. Market-based awards are valued as of the grant date utilizing a Monte Carlo simulation model that assesses the probability of satisfying certain market performance thresholds over a three year performance period. The following table summarizes the Company's significant assumptions used in the Monte Carlo simulation models:
|  | Six months ended June 30, 2023 |  | Six months ended June 30, 2022
Volatility |  | 34.00% |  | 33.89%
Risk free interest rate |  | 4.45% |  | 0.79% | - | 1.76%
Dividend Yield |  | 3.20% |  | 3.24%
The following table summarizes the Company's RSU activity during the six months ended June 30, 2023:
| Unvested Time- Based RSUs |  | Unvested Performance and Market-Based RSUs |  | Weighted-Average Grant Date Value Per Share
Outstanding as of January 1, 2023 | 123,427 |  |  | 712,051 |  |  | $ | 23.35 |
Shares granted | 152,393 |  |  | 445,828 |  |  | $ | 18.40 |
Shares vested | (30,256) |  |  | (60,042) |  |  | $ | 30.85 |
Unearned performance shares added back to Share Limit | — |  |  | (69,803) |  |  | $ | 31.40 |
Outstanding as of June 30, 2023 | 245,564 |  |  | 1,028,034 |  |  | $ | 20.03 |
As of June 30, 2023, there was $14,636 of total estimated unrecognized compensation expense related to unvested stock-based compensation arrangements which will be recognized through December 2025. The Company recognized stock-based compensation expense of $2,302 and $1,320 for the three months ended June 30, 2023 and 2022, respectively, and $4,269 and $2,402 for the six months ended June 30, 2023 and 2022, respectively. Employee Stock Purchase Plan On May 4, 2023, the Company established an Employee Stock Purchase Plan (the "ESPP") through which employees may purchase up to an aggregate of 3,300,000 shares of the Company's common stock. Shares may be purchased semi-annually at a price equal to 85% of the lesser of: (a) the closing price for a share on the first day of such period, and (b) the closing price for a share on the last day of such period. As of June 30, 2023, the Company has not issued any common stock under the ESPP.

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