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Stock-Based Compensation - Schedule of Information Related to Stock Option Plan (Details) - USD ($)
$ in Thousands
3 Months Ended 6 Months Ended
Jun. 30, 2024
Jun. 30, 2023
Jun. 30, 2024
Jun. 30, 2023
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Cash received from option exercises     $ 160 $ 720
2010 Plan        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Intrinsic value of options exercised $ 0 $ 0 144 186
Cash received from option exercises 0 0 160 720
Tax provision realized from option exercised 0 0 24 (3)
2021 Plan | Restricted Stock Units        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Tax provision realized from awards vested $ 0 $ (32) $ (3) $ (34)