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Stock Award Plans and Stock-Based Compensation - Schedule of Restricted Stock Activity (Details) - Restricted Stock Award - $ / shares
12 Months Ended
Feb. 19, 2022
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Number of Shares        
Beginning balance (in shares)   430 558  
Granted (in shares)   0 0  
Forfeited (in shares) (128) 0 (128)  
Ending balance (in shares)   430 430  
Weighted Average Grant Date Fair Value        
Beginning balance (in usd per share)   $ 13,426 $ 13,426 $ 13,500
Granted (in usd per share)   0 0  
Forfeited (in usd per share)   0 13,725  
Ending balance (in usd per share)   $ 13,426 $ 13,426