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Stock-Based Compensation and Stock Awards - Schedule of Information for Stock Option Plans (Details) - $ / shares | 12 Months Ended |
--- | --- | ---
Dec. 31, 2023 | Dec. 31, 2022
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |
Number of securities to be issued upon exercise of outstanding options, warrants and rights (in shares) | 406,581 |
Weighted- average exercise price of outstanding options, warrants and rights (in dollars per shares) | $ 26.99 |
Number of securities remaining available for future issuance under equity compensation plan (in shares) | 634,997 |
Unvested stock and units (in shares) | 609,831 | 579,804
Percentage of achievement of performance conditions | 100.00% |
Employee Stock Option | Stock options(Approved) |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |
Number of securities to be issued upon exercise of outstanding options, warrants and rights (in shares) | 406,581 |
Weighted- average exercise price of outstanding options, warrants and rights (in dollars per shares) | $ 26.99 |
Number of securities remaining available for future issuance under equity compensation plan (in shares) | 634,997 |
RSA and DSA [Member] |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |
Unvested stock and units (in shares) | 687,705 |
Performance Unit Awards [Member] |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |
Unvested stock and units (in shares) | 406,581 | 331,820

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