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Shareholders' Equity (Details) - USD ($) $ / shares in Units, $ in Millions | 1 Months Ended |  |  |
--- | --- | --- | --- | ---
Dec. 31, 2023 | Jun. 30, 2024 | Mar. 10, 2022 | Aug. 31, 2020
Class of Warrant or Right [Line Items] |  |  |  |
Stock repurchase program remaining authorized repurchase amount |  | $ 4.0 | $ 10.0 |
Underwriter warrant to purchase shares (in shares) |  |  |  | 240,100
Warrant exercise price (in dollars per share) |  |  |  | $ 11.00
Number of underwriters warrants exercised or expired (in shares) |  | 0 |  |
Common Stock | Secondary Public Offering |  |  |  |
Class of Warrant or Right [Line Items] |  |  |  |
Stock issued and sold (in shares) | 2,450,000 |  |  |
Public offering price (in dollars per share) | $ 2.00 |  |  |
Gross proceeds | $ 4.9 |  |  |
Consideration received | $ 4.2 |  |  |

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