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Stock-Based Compensation - 2021 Employee Stock Purchase Plan (Details) - USD ($)		3 Months Ended		6 Months Ended
	Jul. 01, 2021	Jun. 30, 2023	Jun. 30, 2022	Jun. 30, 2023	Jun. 30, 2022
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Stock option compensation expense		$ 2,656,000	$ 2,336,000	$ 4,325,000	$ 4,245,000
Options
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Stock option compensation expense		$ 0	$ 0	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	471,630		471,630

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