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Stock-Based Compensation and Stock Options - Stock Option Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Shares      
Options outstanding, beginning (in shares) 1,175,000 1,090,000  
Options granted (in shares) 200,000 700,000  
Exercised options (in shares) (325,000) (565,000)  
Options forfeited and canceled (in shares)   (50,000)  
Options outstanding, ending (in shares) 1,050,000 1,175,000 1,090,000
Exercisable and fully vested (in shares) 783,332    
Outstanding and expected to vest thereafter (in shares) 266,668    
Weighted-Average Exercise Price      
Options outstanding, weighted average exercise price, beginning (in dollars per share) $ 6.40 $ 3.76  
Options granted, weighted average exercise price (in dollars per share) 4.96 7.95  
Exercised options , weighted average exercise price (in dollars per share) 3.49 3.49  
Options forfeited and canceled, weighted average exercise price (in dollars per share)   3.49  
Options outstanding, weighted average exercise price, ending (in dollars per share) 7.02 $ 6.40 $ 3.76
Exercisable and fully vested, weighted average exercise price (in dollars per share) 7.48    
Outstanding and expected to vest thereafter, weighted average exercise price (in dollars per share) $ 5.70    
Share-based Compensation Arrangement by Share-based Payment Award, Options, Additional Disclosures [Abstract]      
Outstanding, weighted-average remaining contractual life 3 years 1 month 9 days 3 years 4 months 17 days 2 years 11 months 1 day
Exercisable and fully vested, weighted-average remaining contractual life 2 years 11 months 19 days    
Outstanding and expected to vest thereafter, weighted average remaining contractual life 3 years 6 months 3 days    
Outstanding, aggregate intrinsic value $ 2,632    
Exercisable and fully vested, aggregate intrinsic value 1,610    
Outstanding and expected to vest, aggregate intrinsic value $ 1,022