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Stock Plans and Stock Based Compensation - Net Cash Proceeds, Tax Benefits and Intrinsic Value Related to Stock Options, SARs, and Restricted Stock (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Share-Based Payment Arrangement [Abstract] |  |  |
Proceeds from stock option exercises | $ (124) | $ (538) | $ (803)
Tax benefits related to stock option exercises | (229) | 196 | 355
Intrinsic value of stock option exercises | $ 270 | $ 1,075 | $ 1,900

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- Definition Employee Service Share-based Compensation, Tax Benefit From Exercise Of Stock Options and Stock Appreciations Rights And Vesting Of Restricted Stock + References No definition available. + Details
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- Definition Proceeds From Stock Options Exercised, Net + References No definition available. + Details
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- Definition Amount of accumulated difference between fair value of underlying shares on dates of exercise and exercise price on options exercised (or share units converted) into shares. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (d)(2) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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