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Warrants (Tables)
 12 Months Ended
Dec. 31, 2023
Warrants and Rights Note Disclosure [Abstract]  
Warrants and Rights Outstanding, Activity
The following is a summary of warrant activity as of December 31, 2022:
Date of issuanceJuly 2018
Outstanding at December 31, 2021
30,684 
Exercised 2022
30,684 
Outstanding at December 31, 2022
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