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Equity - Stock-Based Compensation plans (Details)
Dec. 31, 2022
shares
Dec. 31, 2021
shares
Dec. 31, 2020
shares
Dec. 31, 2019
shares
2015 Plan        
Stock Based Compensation Plans        
Total shares reserved for issuance of common stock related to the conversion of preferred stock 1,545,722 1,900,000    
Ratio of shares subject to award granted     1  
Stock options        
Stock Based Compensation Plans        
Options outstanding (in shares) 10,000 15,000 15,000 15,000
Options exercisable (in shares) 10,000 15,000 15,000