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Compensation Plans (Details) - USD ($) $ in Millions | 12 Months Ended |  |
--- | --- | --- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021 | Jun. 30, 2023 | May 31, 2017
Compensation Plans [Line Items] |  |  |  |  |
Total stock-based compensation | $ 6.2 | $ 5.7 | $ 8.3 |  |
Stock Incentive Plan 2017 [Member] |  |  |  |  |
Compensation Plans [Line Items] |  |  |  |  |
Shares reserved for future issuance |  |  |  |  | 750,000
Shares remained unawarded | 121,034 |  |  |  |
Stock Incentive Plan 2023 [Member] |  |  |  |  |
Compensation Plans [Line Items] |  |  |  |  |
reserved shares for future issuance |  |  |  | 1,000,000 |
Shares available for future grants | 869,000 |  |  |  |
Deferred Stock [Member] |  |  |  |  |
Compensation Plans [Line Items] |  |  |  |  |
Compensation expense | $ 0.9 | $ 0.8 | $ 0.8 |  |
Unrecognized compensation cost | $ 1.0 |  |  |  |
Deferred Stock [Member] | Non-Employee Directors [Member] | Vest in June 2024 [Member] |  |  |  |  |
Compensation Plans [Line Items] |  |  |  |  |
Deferred stock awards amount | 7,566 |  |  |  |
Deferred Stock [Member] | Non-Employee Directors [Member] | Vest in June 2026 [Member] |  |  |  |  |
Compensation Plans [Line Items] |  |  |  |  |
Deferred stock awards amount | 9,760 |  |  |  |
Deferred Stock [Member] | Non-Employee Directors [Member] | Vest in May 2023 [Member] |  |  |  |  |
Compensation Plans [Line Items] |  |  |  |  |
Deferred stock awards amount |  | 5,953 |  |  |
Deferred Stock [Member] | Non-Employee Directors [Member] | Vesting in May 2025 [Member] |  |  |  |  |
Compensation Plans [Line Items] |  |  |  |  |
Deferred stock awards amount |  | 7,688 |  |  |
Deferred Stock [Member] | Non-Employee Directors [Member] | Vest in June 2027 [Member] |  |  |  |  |
Compensation Plans [Line Items] |  |  |  |  |
Deferred stock awards amount |  | 1,478 |  |  |
Deferred Stock [Member] | Non-Employee Directors [Member] | Vesting in May 2022 [Member] |  |  |  |  |
Compensation Plans [Line Items] |  |  |  |  |
Deferred stock awards amount |  |  | 5,113 |  |
Deferred Stock [Member] | Non-Employee Directors [Member] | Vest in May 2024 [Member] |  |  |  |  |
Compensation Plans [Line Items] |  |  |  |  |
Deferred stock awards amount |  |  | 6,615 |  |
Restricted Stock Units [Member] |  |  |  |  |
Compensation Plans [Line Items] |  |  |  |  |
Restricted stock units issued | 114,000 | 82,000 | 82,000 |  |
Cost of issuances restricted stock units | $ 6.1 | $ 6.0 | $ 5.6 |  |
Recognized costs of restricted stock units | $ 1.3 | $ 1.7 | $ 1.6 |  |
Vesting period | 3 years 3 months 18 days |  |  |  |
Unrecognized compensation cost | $ 7.5 |  |  |  |
Restricted Stock Units [Member] | Minimum [Member] |  |  |  |  |
Compensation Plans [Line Items] |  |  |  |  |
Vesting period | 24 months | 24 months | 24 months |  |
Restricted Stock Units [Member] | Maximum [Member] |  |  |  |  |
Compensation Plans [Line Items] |  |  |  |  |
Vesting period | 26 months | 26 months | 26 months |  |

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