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Summary of Significant Accounting Policies New Accounting Pronouncements or Change in Accounting Principle (Details) - USD ($)
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
New Accounting Pronouncements or Change in Accounting Principle [Line Items]      
Provision for income taxes $ 2,872,000 $ (567,000) $ 4,240,000
Effective Income Tax Rate Reconciliation, Percent 23.20% 10.90% 30.30%
Operating Lease, Right-of-Use Asset $ 3,673,000 $ 4,976,000  
Operating Lease, Payments 1,774,000 1,762,000 $ 1,990,000
Operating Lease, Liability, Noncurrent 3,266,000 4,563,000  
Operating Lease, Liability, Current $ 1,286,000 $ 1,502,000