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Transactions with Executive Officers, Directors, and Principal Shareholders - Narrative (Details)
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Related Party Transaction [Line Items]      
Percentage of gross revenue 5.00% 5.00% 5.00%
Minimum      
Related Party Transaction [Line Items]      
Percentage of participation in equity 10.00% 10.00% 10.00%