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Employee Stock Purchase and Stock Incentive Plans - Summary of Information about Options Outstanding and Exercisable (Details) - $ / shares
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Share-Based Payment Arrangement [Abstract]      
Exercise Price (in dollars per share) $ 6.28 $ 6.28  
Total Outstanding (in shares) 5,133 10,030 14,927
Weighted Average Remaining Life (Years) 5 years 5 years  
Weighted Average Exercise Price (in dollars per share) $ 6.02 $ 5.99 $ 5.99
Total Exercisable (in shares) 5,133 10,030