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Equity Plans (Tables)
 6 Months Ended
Jun. 30, 2023
Share-Based Payment Arrangement [Abstract]  
Schedule of Compensation Costs Charged to Income and Proceeds from the Exercise of Any Restricted Stock and Similar Instruments that are Recorded to Additional Paid-In Capital and Common Stock, by Award Type
A summary of compensation costs charged to income and proceeds from the exercise of restricted stock and similar instruments that are recorded to additional paid-in capital and common stock, by award type, are presented below for the three and six months ended June 30, 2023 and 2022:
 Three months ended June 30,Six months ended June 30,
 2023202220232022
Compensation costs charged to income:
   ESPP$— — $191 185 
   Restricted stock and deferred restricted stock1,139 1,041 2,147 2,408 
Total compensation costs charged to income$1,139 1,041 $2,338 2,593 
ESPP proceeds$— — $1,080 1,049