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Equity Plan - Unrecognized Compensation Cost - Nonvested Restricted Stock Awards (Details) - USD ($)
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Unrecognized Compensation Cost      
Total compensation cost $ 2,396,000 $ 3,178,000 $ 2,519,000
Total income tax expense (benefit) on share-based compensation cost 54,000 $ (94,000) $ (155,000)
Restricted stock      
Unrecognized Compensation Cost      
Total unrecognized compensation cost related to nonvested restricted stock awards $ 1,030,000    
Expected weighted-average period for recognition of compensation costs related to nonvested restricted stock awards 1 year 2 months 19 days    
Restricted Stock Units (RSUs)      
Unrecognized Compensation Cost      
Total unrecognized compensation cost related to nonvested restricted stock awards $ 582,000    
Expected weighted-average period for recognition of compensation costs related to nonvested restricted stock awards 2 years 3 months 29 days    
PRSU      
Unrecognized Compensation Cost      
Total unrecognized compensation cost related to nonvested restricted stock awards $ 582,000    
Expected weighted-average period for recognition of compensation costs related to nonvested restricted stock awards 2 years 3 months 29 days