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Income Taxes (Details) - USD ($)
3 Months Ended 12 Months Ended
Mar. 31, 2024
Mar. 31, 2023
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Income Taxes          
Income tax expense $ 59,000 $ 50,000 $ 541,000 $ 121,000  
Effective tax rate 7.20% 3.70%      
Unrecognized tax benefits $ 3,100,000   3,083,000 $ 3,203,000 $ 3,106,000
Unrecognized tax benefits effective tax rate 1,700,000   $ 1,700,000    
Interest expense or penalties related to unrecognized tax benefits $ 0