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Stock-Based Compensation - Changes in stock options (Details) - USD ($)
$ / shares in Units, $ in Thousands
 3 Months Ended 12 Months Ended
Mar. 31, 2024
Dec. 31, 2023
Employee Stock Option    
Number of shares    
Outstanding Options at beginning of period (in shares) 740,439  
Exercised (in shares) (59,524)  
Vested and expired (in shares) (29,941)  
Outstanding Options at end of period (in shares) 650,974 740,439
Exercisable Options at end of period (in shares) 650,974  
Weighted Average Exercise Price per Share    
Outstanding Options at beginning of period (in dollars per share) $ 6.55  
Exercised (in dollars per share) 4.51  
Vested and expired (in dollars per share) 10.83  
Outstanding Options at end of period (in dollars per share) $ 6.54 $ 6.55
Weighted Average Contractual Life (Years)    
Outstanding Options (in years) 5 years 7 months 6 days 5 years 2 months 1 day
Intrinsic Value    
Outstanding Options at Beginning of period $ 2,570  
Exercised 241  
Outstanding Options at End of period $ 2,820 $ 2,570
Stock Appreciation Rights (SARs) [Member]    
Number of shares    
Outstanding Options at beginning of period (in shares) 714,539  
Exercised (in shares) (163,043)  
Outstanding Options at end of period (in shares) 551,496 714,539
Exercisable Options at end of period (in shares) 538,043  
Weighted Average Exercise Price per Share    
Outstanding Options at beginning of period (in dollars per share) $ 1.82  
Exercised (in dollars per share) 1.79  
Outstanding Options at end of period (in dollars per share) 1.83 $ 1.82
Exercisable Options at end of period (in dollars per share) $ 1.79  
Weighted Average Contractual Life (Years)    
Outstanding Options (in years) 6 years 11 months 1 day 7 years 2 months 1 day