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401(K) Plan - Narrative (Details) - USD ($) | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2019
Defined Benefit Plan Disclosure [Line Items] |  |  |
Percent of employee match |  |  | 100.00%
Maximum annual employee contribution matched by employer |  |  | $ 3,000
Employer matching contributions expense | $ 500,000 | $ 600,000 |
Maximum |  |  |
Defined Benefit Plan Disclosure [Line Items] |  |  |
Percentage of employees eligible compensation | 90.00% |  |

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