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Stockholders' Equity - Employee Stock Purchase Plans (Details) - 2013 Plan - shares
1 Months Ended 12 Months Ended
Sep. 30, 2013
Dec. 31, 2022
Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Number of shares authorized (in shares) 100,000    
Purchase price of common stock, percent 85.00%    
Shares issued in the period (in shares)   3,971 22,000
Number of shares available for grant (in shares)   28,523