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Operating expenses, Stock Compensation Expenses (Details)
$ / shares in Units, $ in Thousands
12 Months Ended
Dec. 31, 2022
USD ($)
shares
$ / shares
Dec. 31, 2021
USD ($)
shares
$ / shares
Dec. 31, 2020
USD ($)
shares
$ / shares
Operating expense [Abstract]      
Expense recognized from stock compensation | $ $ 4,211 $ 4,371 $ 4,792
Stock compensation expense [Abstract]      
Contractual life for outstanding stock compensation series 1 year 1 month 2 days    
Vesting value $8.22 [Member]      
Stock compensation expense [Abstract]      
Fair value of shares vested (in dollars per share) | $ / shares $ 8.22 $ 8.22 $ 8.22
Number of shares vested (in shares) | shares 122,057 435,960 32,445
Vesting value $4.25 [Member]      
Stock compensation expense [Abstract]      
Fair value of shares vested (in dollars per share) | $ / shares $ 4.25 $ 4.25 $ 4.25
Number of shares vested (in shares) | shares 167,431 163,764 125,649
Vesting value $5.52 [Member]      
Stock compensation expense [Abstract]      
Fair value of shares vested (in dollars per share) | $ / shares $ 5.52 $ 5.52  
Number of shares vested (in shares) | shares 388,412 120,986  
Vesting value $3.22 [Member]      
Stock compensation expense [Abstract]      
Fair value of shares vested (in dollars per share) | $ / shares   $ 3.22  
Number of shares vested (in shares) | shares   120,986  
Vesting value $3.56 [Member]      
Stock compensation expense [Abstract]      
Fair value of shares vested (in dollars per share) | $ / shares     $ 3.56
Number of shares vested (in shares) | shares     207,786
Vesting value $5.30 [Member]      
Stock compensation expense [Abstract]      
Fair value of shares vested (in dollars per share) | $ / shares $ 5.3    
Number of shares vested (in shares) | shares 175,048    
Vesting value $4.60 [Member]      
Stock compensation expense [Abstract]      
Fair value of shares vested (in dollars per share) | $ / shares     $ 4.6
Number of shares vested (in shares) | shares     235,650