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Share-Based Compensation Expense - Schedule of stock option award activity (Details) - $ / shares
3 Months Ended
Mar. 31, 2024
Dec. 31, 2023
Mar. 31, 2023
Dec. 31, 2022
Shares        
Outstanding, beginning balance (in shares) 193,156   761,408  
Granted (in shares) 0   0  
Exercised (in shares) 0   (135,210)  
Cancelled or forfeited (in shares) 0   (66,022)  
Outstanding, ending balance (in shares) 193,156 193,156 560,176 761,408
Exercisable (in shares) 191,931   539,866  
Weighted Average Exercise Price        
Outstanding, beginning balance (in usd per share) $ 17.89   $ 11.12  
Granted (in usd per share) 0   0  
Exercised (in usd per share) 0   2.00  
Cancelled or forfeited (in usd per share) 0   55.52  
Outstanding, ending balance (in usd per share) 17.89 $ 17.89 8.16 $ 11.12
Exercisable (in usd per share) $ 17.58   $ 7.60  
Weighted Average Remaining Contractual Term        
Outstanding 5 years 6 months 5 years 9 months 18 days 2 years 7 months 6 days 2 years 8 months 12 days
Exercisable 5 years 6 months   2 years 7 months 6 days