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Stock Incentive Plan - Employee Stock Purchase Plan (Details) - USD ($) $ / shares in Units, $ in Thousands | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Schedule of Employee Stock Purchase Plan (ESPP) Disclosures [Line Items] |  |  |
Share-based compensation expense | $ 11,495 | $ 10,661 | $ 10,500
Employee Stock Purchase Plan | Continuing Operations |  |  |
Schedule of Employee Stock Purchase Plan (ESPP) Disclosures [Line Items] |  |  |
Shares purchased by employees (in shares) | 10,000 | 8,000 | 11,000
Average purchase price (in dollars per share) | $ 69.81 | $ 82.48 | $ 75.71
Weighted-average fair value of each purchase (in dollars per share) | $ 7.76 | $ 9.17 | $ 30.68
Share-based compensation expense | $ 76 | $ 78 | $ 344
Employee Stock Purchase Plan | Discontinued Operations |  |  |
Schedule of Employee Stock Purchase Plan (ESPP) Disclosures [Line Items] |  |  |
Shares purchased by employees (in shares) | 1,000 | 1,000 | 1,000
Average purchase price (in dollars per share) | $ 69.81 | $ 82.48 | $ 75.71
Weighted-average fair value of each purchase (in dollars per share) | $ 7.76 | $ 9.17 | $ 30.68
Share-based compensation expense | $ 13 | $ 9 | $ 25

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