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Stockholders' Equity - Summary of Compensation Costs (Details) - USD ($) $ in Thousands | 12 Months Ended
--- | ---
Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Restricted Stock Awards |  |  |
Class of Stock [Line Items] |  |  |
Compensation expense | $ 5,172 | $ 4,657 | $ 3,939
Restricted Stock Units |  |  |
Class of Stock [Line Items] |  |  |
Compensation expense | 1,451 | 1,356 | 1,510
Stock Option Awards |  |  |
Class of Stock [Line Items] |  |  |
Compensation expense | $ 2,540 | $ 1,939 | $ 1,660

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