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Summary of Significant Accounting Policies - Capitalized Software (Details) - USD ($) $ in Millions | 12 Months Ended
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Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Property, Plant and Equipment [Line Items] |  |  |
Amortization expense of capitalized software | $ 1.8 | $ 1.7 | $ 1.1
Computers and Software | Minimum |  |  |
Property, Plant and Equipment [Line Items] |  |  |
Amortization period | 1 year |  |
Computers and Software | Maximum |  |  |
Property, Plant and Equipment [Line Items] |  |  |
Amortization period | 10 years |  |

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- Definition Amount of expense for amortization of capitalized computer software costs. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 985 -SubTopic 20 -Section 50 -Paragraph 1 -Subparagraph (b)(1) -URI https://asc.fasb.org/extlink&oid=6501960&loc=d3e128462-111756 Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 985 -SubTopic 20 -Section 50 -Paragraph 2 -URI https://asc.fasb.org/extlink&oid=6501960&loc=d3e128487-111756 + Details
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- Definition Useful life of long lived, physical assets used in the normal conduct of business and not intended for resale, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days. Examples include, but not limited to, land, buildings, machinery and equipment, office equipment, furniture and fixtures, and computer equipment. + References No definition available. + Details
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