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Percent of payout for performance based stock units

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Remaining contract life of exercisable stock option.

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Remaining contract life of outstanding stock options.

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Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Incremental Grants in Period, Weighted Average Grant Date Fair Value

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- Definition

Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Incremental shares vested

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Amount of discretionary contributions made by an employer to a defined contribution plan.

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Percentage of employees' gross pay for which the employer contributes a matching contribution to a defined contribution plan.

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Maximum percentage of employee gross pay the employee may contribute to a defined contribution plan.

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- Definition

Amount of cost capitalized for award under share-based payment arrangement.

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Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 718
-SubTopic 10
-Name Accounting Standards Codification
-Section 50
-Paragraph 2
-Subparagraph (h)(1)(ii)
-Publisher FASB
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- Definition

Amount of cost not yet recognized for nonvested award under share-based payment arrangement.

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Reference 1: http://www.xbrl.org/2003/role/disclosureRef
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Weighted-average period over which cost not yet recognized is expected to be recognized for award under share-based payment arrangement, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days.

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- Definition

Amount of noncash expense for share-based payment arrangement.

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Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
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- Definition

Period over which grantee's right to exercise award under share-based payment arrangement is no longer contingent on satisfaction of service or performance condition, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days. Includes, but is not limited to, combination of market, performance or service condition.

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- Definition

The number of equity-based payment instruments, excluding stock (or unit) options, that were forfeited during the reporting period.

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- Definition

Weighted average fair value as of the grant date of equity-based award plans other than stock (unit) option plans that were not exercised or put into effect as a result of the occurrence of a terminating event.

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- Definition

The number of grants made during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan).

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- Definition

The weighted average fair value at grant date for nonvested equity-based awards issued during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan).

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- Definition

The number of non-vested equity-based payment instruments, excluding stock (or unit) options, that validly exist and are outstanding as of the balance sheet date.

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Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 718
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- Definition

Per share or unit weighted-average fair value of nonvested award under share-based payment arrangement. Excludes share and unit options.

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- Definition

The number of equity-based payment instruments, excluding stock (or unit) options, that vested during the reporting period.

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- Definition

Fair value of share-based awards for which the grantee gained the right by satisfying service and performance requirements, to receive or retain shares or units, other instruments, or cash.

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Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 718
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- Definition

The weighted average fair value as of grant date pertaining to an equity-based award plan other than a stock (or unit) option plan for which the grantee gained the right during the reporting period, by satisfying service and performance requirements, to receive or retain shares or units, other instruments, or cash in accordance with the terms of the arrangement.

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- Definition

The difference between the maximum number of shares (or other type of equity) authorized for issuance under the plan (including the effects of amendments and adjustments), and the sum of: 1) the number of shares (or other type of equity) already issued upon exercise of options or other equity-based awards under the plan; and 2) shares (or other type of equity) reserved for issuance on granting of outstanding awards, net of cancellations and forfeitures, if applicable.

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-URI https://asc.fasb.org//1943274/2147480429/718-10-50-2

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- References

No definition available.

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- Definition

Amount of accumulated difference between fair value of underlying shares on dates of exercise and exercise price on options exercised (or share units converted) into shares.

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- Definition

Amount by which the current fair value of the underlying stock exceeds the exercise price of options outstanding.

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- Definition

Expected term of award under share-based payment arrangement, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days.

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Reference 1: http://www.xbrl.org/2003/role/disclosureRef
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Share-Based Compensation (Details Textual) - USD ($) $ / shares in Units, $ in Thousands									12 Months Ended
	Dec. 31, 2023	Feb. 23, 2023	Feb. 22, 2023	Dec. 31, 2022	Feb. 23, 2022	Feb. 24, 2021	Dec. 31, 2020	May 21, 2019	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Stock-Based Compensation Plan
Share-based compensation expenses									$ 5,526	$ 5,086	$ 4,645
Share-based Payment Arrangement, Amount Capitalized									$ 300	200	200
Employee Savings Plan [Abstract]
Employee Savings Plan, Employer Matching Contribution, Percent									100.00%
Employee Savings Plan, Maximum Annual Contribution Per Employee, Percent									6.00%
Employee Savings Plan, Employer Discretionary Contribution Amount									$ 800	600	500
2016 Plan
Stock-Based Compensation Plan
Shares available for future grant under stock compensation plans	563,127								563,127
Inducement Plan
Stock-Based Compensation Plan
Shares available for future grant under stock compensation plans	140,446								140,446
General and Administrative Expense [Member]
Stock-Based Compensation Plan
Share-based compensation expenses									$ 5,500	5,100	4,600
Share-based Payment Arrangement, Option [Member]
Stock Option Awards
Unrecognized compensation cost related to stock awards	$ 0								0
Outstanding stock options aggregate intrinsic value	$ 525			$ 438					525	438
Remaining contract life of outstanding stock options.	3 years 4 months 24 days			4 years 4 months 24 days
Remaining contract life of exercisable stock option	3 years 4 months 24 days
Intrinsic value of exercised stock option									0	$ 300	0
Restricted Stock Units (RSUs) [Member]
Stock Option Awards
Unrecognized compensation cost related to stock awards	$ 4,300								$ 4,300
Stock Units [Abstract]
Weighted average recognition period of cost related to stock awards									1 year 9 months 18 days
Restricted units outstanding	285,163			227,114					285,163	227,114
Restricted units outstanding, weighted average price	$ 24.61			$ 21.18					$ 24.61	$ 21.18
Restricted stock units granted									197,073
Restricted stock units granted, weighted average price									$ 23.81
Restricted stock units forfeited									(1,424)
Restricted stock units forfeited, weighted average price									$ 25.44
Restricted stock units vested									137,600
Restricted stock units vested, weighted average price									$ 17.80
Restricted stock units fair value vested									$ 3,400	$ 7,700	$ 2,600
Performance Shares [Member]
Stock Option Awards
Unrecognized compensation cost related to stock awards	$ 4,200								$ 4,200
Stock Units [Abstract]
Weighted average recognition period of cost related to stock awards							1 year 7 months 6 days
Restricted units outstanding	242,860			283,500					242,860	283,500
Restricted units outstanding, weighted average price	$ 33.84			$ 23.18					$ 33.84	$ 23.18
Restricted stock units granted		120,749	120,749		122,111	161,389		99,500
Restricted stock units granted, weighted average price		$ 31.18			$ 36.47	$ 13.13		$ 18.86
Performance based stock units, incremental shares vested					142,021
Performance based stock units, incremental shares vested, weighted average grant date fair value					$ 13.13
Restricted stock units vested			303,410		97,812				303,410
Restricted stock units vested, weighted average price									$ 13.13
Percent of payout for performance based stock units	100.00%	136.28%			150.93%	157.60%		112.90%	100.00%
Approved payout for performance based stock units			188.00%		117.00%
Performance Period for Award		3 years
Minimum Payout [Member] \| Share-based Payment Arrangement, Option [Member]
Stock Units [Abstract]
Vesting period									1 year
Minimum Payout [Member] \| Restricted Stock Units (RSUs) [Member]
Stock Units [Abstract]
Vesting period									1 year
Minimum Payout [Member] \| Performance Shares [Member]
Stock Units [Abstract]
Percent of payout for performance based stock units		0.00%			0.00%	0.00%		0.00%
Maximum Payout [Member] \| Share-based Payment Arrangement, Option [Member]
Stock Units [Abstract]
Vesting period									5 years
Maximum Payout [Member] \| Restricted Stock Units (RSUs) [Member]
Stock Units [Abstract]
Vesting period									5 years
Maximum Payout [Member] \| Performance Shares [Member]
Stock Units [Abstract]
Percent of payout for performance based stock units		200.00%			200.00%	200.00%		200.00%
Performance Period for Award					3 years	2 years		3 years