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Stock Based Compensation - Roll Forward Schedule of Stock Option Plan by Shares and Weighted Average Exercise Prices (Details) - USD ($)
$ / shares in Units, $ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Share-Based Payment Arrangement [Abstract]      
Shares Available for Grant at Period-End (in shares) 414,561    
Shares      
Outstanding, Beginning Balance (in shares) 287,444    
Granted (in shares) 57,680 60,471 60,646
Exercised (in shares) (4,677)    
Forfeited (in shares) (35,139)    
Outstanding, Ending Balance (in shares) 305,308 287,444  
Exercisable (in shares) 206,850    
Vested and Expected to Vest (in shares) 98,458    
Weighted Average Exercise Price      
Beginning balance (in dollars per share) $ 28.56    
Granted (in dollars per share) 31.47    
Exercised (in dollars per share) 20.62    
Forfeited (in dollars per share) 30.91    
Ending balance (in dollars per share) 28.96 $ 28.56  
Exercisable (in dollars per share) 27.84    
Vested and Expected to Vest (in dollars per share) $ 31.32    
Share-based Compensation Arrangement by Share-based Payment Award, Options, Additional Disclosures [Abstract]      
Outstanding (in years) 5 years 4 months 6 days    
Exercisable (in years) 4 years    
Vested and Expected to Vest (in years) 8 years 2 months 8 days    
Aggregate Intrinsic Value      
Outstanding $ 0    
Exercisable 21    
Vested and Expected to Vest $ 0