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Stock-Based Compensation - Employee Stock Purchase Plan (Details) - shares
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
2004 ESPP Plan      
Stock-Based Compensation      
Available for issuance (in shares) 176,232    
Common stock reserved for issuance (in shares) 276,666    
Purchase price of fair value of common stock (in percent) 85.00%    
Issued (in shares) 12,243 21,867 39,817
2008 Plan      
Stock-Based Compensation      
Available for issuance (in shares) 0