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Stockholders' Equity - Compensation Costs Recognized (Details) - USD ($)
$ in Thousands
3 Months Ended
Mar. 31, 2023
Mar. 31, 2022
Restricted Stock Awards    
Class of Stock [Line Items]    
Compensation cost $ 1,395 $ 1,749
Restricted Stock Units    
Class of Stock [Line Items]    
Compensation cost 508 673
Stock Option Awards    
Class of Stock [Line Items]    
Compensation cost $ 414 $ 1,236