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Summary of Significant Accounting Policies - Allowance for doubtful accounts (Details) - USD ($) $ in Thousands | 12 Months Ended |
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Summary of Significant Accounting Policies |  |  |  |
Balance at Beginning of Period | $ 618 | $ 519 | $ 469 | $ 648
Charged to Costs and Expenses | 397 | 408 | 56 |
Write Off of Uncollectible Accounts, Net of Recoveries | (298) | (358) | (235) |
Balance at End of Period | $ 618 | $ 519 | $ 469 | $ 648

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