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Summary of Significant Accounting Policies - Impairments of Long-Lived Assets and Goodwill (Details) - USD ($)
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Accounting Policies [Abstract]      
Impairment of long-lived asset $ 0 $ 2,211,000 $ 0
Goodwill, impairment loss $ 0 $ 0 $ 0