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Long-term debt (Tables)
 12 Months Ended
Dec. 31, 2021
Debt Instruments [Abstract]  
Schedule of Maturities of Long-term Debt [Table Text Block]
Future required principal payments for long-term debt as of December 31, 2021 are shown in the table below.
2022$35 
20233,750 
20245,000 
20255,000 
20265,446 
Thereafter32,290 
$51,521