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Stock-Based Compensation - Summary of plans (Details)
12 Months Ended
Dec. 31, 2022
shares
2009 Stock Incentive Plan  
Stock-Based Compensation  
Number of available shares deducted for each share granted 1
2009 Stock Incentive Plan | Minimum  
Stock-Based Compensation  
Award vesting period 3 years
2009 Stock Incentive Plan | Maximum  
Stock-Based Compensation  
Award vesting period 4 years
2009 Employee Stock Purchase Plan  
Stock-Based Compensation  
Percentage of purchase price of shares on fair value 85.00%
2009 Employee Stock Purchase Plan | Maximum  
Stock-Based Compensation  
Term of award 27 months