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Stockholders' Equity - Activities Under Equity Plan (Details) - 2012 Equity Plan - shares
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Number of Shares Available for Grant [Roll Forward]      
Beginning balance, equity securities available (in shares) 990,129 1,699,314 646,480
Plus: Additional shares available for issuance under the 2020 Equity Plan (in shares)     1,600,000
Less: RSU, DSU, and restricted stock awarded to eligible employees, net of forfeitures (in shares) (307,077) (539,241) (547,166)
Less: issuance of common stock in lieu of cash compensation (in shares)   (169,944)  
Ending balance, equity securities available (in shares) 683,052 990,129 1,699,314