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Stockholders' Equity (Details) | 12 Months Ended
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Dec. 31, 2023 USD ($) item shares | Dec. 31, 2022 USD ($) shares | Dec. 31, 2021 USD ($) shares
Stockholders' Equity |  |  |
Common Stock, Shares, Outstanding | 103,430,353 | 103,235,914 |
2002 Stock Incentive Plan |  |  |
Equity-Based Compensation |  |  |
Maximum number of shares provided for grant under equity-based incentive compensation plan | 2,000,000 |  |
Number of vesting requirements | item | 0 |  |
Number of shares available for grant under the plan, Beginning | 1,696,687 | 1,780,820 | 1,847,384
Shares Granted | (194,439) | (84,133) | (66,564)
Number of shares available for grant under the plan, Ending | 1,502,248 | 1,696,687 | 1,780,820
Compensation Cost, Beginning | $ | $ 1,406,250 | $ 1,012,500 | $ 675,000
Compensation cost | $ | 314,991 | 393,750 | 337,500
Compensation Cost, Ending | $ | $ 1,721,241 | $ 1,406,250 | $ 1,012,500

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