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Stock Based Compensation Expense (Details) - USD ($) $ in Thousands | 12 Months Ended
--- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Remaining Contractual Term | 7 years 10 months | 7 years 8 months |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Vested and Expected to Vest, Outstanding, Weighted Average Remaining Contractual Term | 7 years 6 months |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Vested and Expected to Vest, Exercisable, Weighted Average Remaining Contractual Term | 7 years 6 months |  |
Payment, Tax Withholding, Share-based Payment Arrangement | $ 24 | $ 25 | $ 39
Employee |  |  |
Share-based Compensation Arrangement by Share-based Payment Award |  |  |
Share-based Payment Arrangement, Nonvested Award, Excluding Option, Cost Not yet Recognized, Amount | 1,975 |  |
Share-based Payment Arrangement, Expense | 1,082 | 1,230 | 875
Share-based Payment Arrangement, Expense, after Tax | 855 | 972 | 691
Director |  |  |
Share-based Compensation Arrangement by Share-based Payment Award |  |  |
Share-based Payment Arrangement, Nonvested Award, Excluding Option, Cost Not yet Recognized, Amount | 99 |  |
Share-based Payment Arrangement, Expense | 174 | 158 | 310
Share-based Payment Arrangement, Expense, after Tax | $ 137 | $ 125 | $ 245

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