Commitments and Contingencies - Federal False Claims Act / Qui Tam Litigation (Details) - Federal False Claims Act / Qui Tam Litigation	9 Months Ended
Sep. 30, 2023 employee lawsuit	Dec. 31, 2011 lawsuit
Loss contingencies
Number of actions declined to intervene		2
Number of lawsuits pending	2
Number of former employees \| employee	2

Line items represent financial concepts included in a table. These concepts are used to disclose reportable information associated with domain members defined in one or many axes to the table.

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
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Reference 2: http://www.xbrl.org/2003/role/disclosureRef
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