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

Amount of expense for award under share-based payment arrangement. Excludes amount capitalized.

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