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Common Stock, Preferred Stock and Equity Plans - Stock and Option Plans (Details) - shares
12 Months Ended
Dec. 31, 2021
Dec. 31, 2019
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Awards outstanding (in shares) 7,598,000  
Additional awards authorized for grant (in shares) 9,558,000  
2013 Stock and Option Plan    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Awards outstanding (in shares) 7,306,000  
Additional awards authorized for grant (in shares) 9,558,000  
Additional shares authorized (in shares)   5,000,000
2006 Stock and Option Plan    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Awards outstanding (in shares) 292,000  
Additional awards authorized for grant (in shares) 0  
Maximum    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Expiration period 10 years