Stockholders' Equity - Stock Options Activities (Details) - USD ($) $ / shares in Units, $ in Thousands	6 Months Ended	12 Months Ended
	Jun. 30, 2023	Dec. 31, 2022
Number
Options outstanding, Balance (in shares)	691,573
Granted (in shares)	0
Exercised (in shares)	(42,971)
Forfeited and expired (in shares)	(11,235)
Options outstanding, Balance (in shares)	637,367	691,573
Weighted average exercise price
Options outstanding, weighted average exercise price (in dollars per share)	$ 7.533
Granted, weighted average exercise price (in dollars per share)	0
Exercised, weighted average exercise price (in dollars per share)	6.561
Forfeited and expired, weighted average exercise price (in dollars per share)	5.560
Options outstanding, weighted average exercise price (in dollars per share)	$ 7.633	$ 7.533
Share-based Compensation Arrangement by Share-based Payment Award, Options, Additional Disclosures [Abstract]
Options exercisable at the end of the year (in shares)	633,920
Options exercisable at the end of the year, weighted average exercise price (in dollars per share)	$ 7.644
Options outstanding, aggregate intrinsic value	$ 12,121	$ 11,347
Options exercisable at the end of the year, aggregate intrinsic value	$ 12,048
Options outstanding, weighted average remaining contractual life (Year)	1 year 5 months 23 days	1 year 10 months 24 days
Options exercisable at the end of the year, weighted average remaining contractual life (Year)	1 year 5 months 15 days