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Stock Based Compensation - Allocation of compensation expense (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Share-Based Payment Arrangement [Abstract]      
Stock-based compensation $ 14,252 $ 8,642 $ 4,354
Other long-term incentive plan compensation 310 171 848
Total compensation $ 14,562 $ 8,813 $ 5,202