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Stock-Based Compensation - 2021 Employee Stock Purchase Plan (Details) - USD ($)
3 Months Ended
Jul. 01, 2021
Mar. 31, 2023
Mar. 31, 2022
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]      
Stock option compensation expense   $ 1,669,000 $ 1,909,000
Options      
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]      
Stock option compensation expense   0 $ 0
Unrecognized stock option compensation expense   $ 0  
2021 ESPP      
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]      
Discount through voluntary payroll deductions 15.00%    
Remaining shares available for issuance (in shares) 600,000 481,865