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Stockholders' Equity - 2019 Employee Stock Purchase Plan (Details) - shares
3 Months Ended
Mar. 31, 2023
Apr. 16, 2019
Stock-Based Compensation    
Issuance of common stock via employee stock purchase plan (in shares) 7,724  
Employee Stock    
Stock-Based Compensation    
Shares authorized (in shares)   240,000
Annual increase (in shares) 240,000