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Stock-Based Compensation - Employee Stock Purchase Plan (Details) $ in Thousands |  | 12 Months Ended
--- | --- | ---
Oct. 26, 2021 USD ($) | Dec. 31, 2022 USD ($) employee shares | Dec. 31, 2021 USD ($) employee | Dec. 31, 2020 USD ($)
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Total stock-based compensation expense |  | $ 9,982 | $ 10,657 | $ 9,362
Employee Stock Purchase Plan |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Total stock-based compensation expense |  | $ 191 | $ 25 | $ 0
Employee Stock Purchase Plan | 2021 Stock Repurchase Program |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Maximum employee subscription rate | 15.00% |  |  |
Maximum employee subscription amount | $ 21,250 |  |  |
Purchase price discount | 85.00% |  |  |
Number of employees | employee |  | 78 | 95 |
Number of shares purchased (in shares) | shares |  | 22,909 |  |
Fair value of shares purchased |  | $ 604 |  |
Expected contributions |  | 588 | $ 514 |
Total stock-based compensation expense |  | $ 137 |  |

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- Definition Amount of expense for award under share-based payment arrangement. Excludes amount capitalized. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (h)(1)(i) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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