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CONSOLIDATED BALANCE SHEETS (Parenthetical) - $ / shares
Dec. 31, 2022
Dec. 31, 2021
Statement of Financial Position [Abstract]    
Common stock, par value per share (in dollars per share) $ 0.0001 $ 0.0001
Common stock, shares, authorized (in shares) 150,000,000 150,000,000
Common stock, shares, issued (in shares) 31,448,508 31,336,092
Common stock, shares, outstanding (in shares) 31,394,767 31,224,336