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Stockholders' Equity - Schedule of Shares Repurchased (Details) - USD ($) | 3 Months Ended |  |
--- | --- | --- | ---
Mar. 31, 2023 | Mar. 31, 2022 | Dec. 15, 2022 | Nov. 30, 2020
Equity [Line Items] |  |  |  |
Shares repurchased during the period |  | $ 3,879,000 |  |
Maximum |  |  |  |
Equity [Line Items] |  |  |  |
Amount of stock repurchase plan authorized |  |  |  | $ 12,000,000
December 15, 2022 |  |  |  |
Equity [Line Items] |  |  |  |
Shares repurchased (in shares) | 0 | 0 |  |
Shares repurchased during the period | $ 0 |  |  |
Shares repurchased during period (in USD per share) | $ 0 |  |  |
December 15, 2022 | Maximum |  |  |  |
Equity [Line Items] |  |  |  |
Amount of stock repurchase plan authorized | $ 7,997,000 |  |  |
November 3, 2020 |  |  |  |
Equity [Line Items] |  |  |  |
Shares repurchased (in shares) | 0 | 320,528 |  |
Shares repurchased during the period | $ 3,879,000 |  |  |
Shares repurchased during period (in USD per share) | $ 12.10 |  |  |
November 3, 2020 | Maximum |  |  |  |
Equity [Line Items] |  |  |  |
Amount of stock repurchase plan authorized | $ 20,000,000 |  | $ 7,997,057 | $ 20,000,000

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