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Stockholders' Equity - Summary of Activity under Employee Stock Purchase Plan (Details) - Employee stock purchase plan - shares	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022
Summary of the Employee Stock Purchase Plan activity
Outstanding and exercisable, beginning of period (in shares)	179,369	405,534	340,976	348,514
Granted (in shares)	0	0	0	255,960
Exercised (in shares)	(2,580)	(4,576)	(7,397)	(17,094)
Forfeited (in shares)	(4,680)	(37,628)	(28,471)	(83,417)
Expired (in shares)	0	0	(132,999)	(140,633)
Outstanding and exercisable, end of period (in shares)	172,109	363,330	172,109	363,330

X

- Definition

Number of options or other stock instruments for which the right to exercise has lapsed under the terms of the plan agreements.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 718
-SubTopic 10
-Name Accounting Standards Codification
-Section 50
-Paragraph 2
-Subparagraph (c)(1)(iv)(04)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147480429/718-10-50-2

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- Definition

The number of shares under options that were cancelled during the reporting period as a result of occurrence of a terminating event specified in contractual agreements pertaining to the stock option plan.

+ References

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-Topic 718
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-Section 50
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- Definition

Gross number of share options (or share units) granted during the period.

+ References

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- Definition

Number of options outstanding, including both vested and non-vested options.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 718
-SubTopic 10
-Name Accounting Standards Codification
-Section 50
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-Subparagraph (c)(1)(i)
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A roll forward is a reconciliation of a concept from the beginning of a period to the end of a period.

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Number of share options (or share units) exercised during the current period.

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