Stockholders' Equity - Stock Options Activities (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Number
Options outstanding at the beginning of the year (in shares)	691,573
Granted (in shares)	0
Exercised (in shares)	(102,999)
Forfeited (in shares)	(15,144)
Options outstanding at the end of the period (in shares)	573,430	691,573
Options exercisable at the end of the period (in shares)	572,476
Weighted average exercise price
Options outstanding at the beginning of the year, 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)	7.647
Forfeited, weighted average exercise price (in dollars per share)	5.585
Options outstanding at the end of the period, weighted average exercise price (in dollars per share)	7.564	$ 7.533
Options exercisable at the end of the period, weighted average exercise price (in dollars per share)	$ 7.567
Share-based Compensation Arrangement by Share-based Payment Award, Options, Additional Disclosures [Abstract]
Options outstanding at the beginning of the year, aggregate intrinsic value	$ 21,627	$ 11,347
Options exercisable at the end of the period, aggregate intrinsic value	$ 21,590
Options outstanding at the beginning of the year, weighted average remaining contractual life (years)	11 months 15 days	1 year 10 months 24 days
Options exercisable at the end of the period, weighted average remaining contractual life (years)	11 months 15 days