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Stockholders' Equity (Details) - USD ($)
$ in Thousands
3 Months Ended
Mar. 31, 2023
Mar. 31, 2022
Stockholders' Equity    
Cash received from options exercised under all share-based payment arrangements $ 150 $ 270
Equity incentive, 2014 Plan    
Stockholders' Equity    
Cash received from options exercised under all share-based payment arrangements $ 150 $ 270