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Income Taxes - Schedule of unrecognized tax positions (Details) - USD ($) | 12 Months Ended
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Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Unrecognized tax positions, beginning of period | $ 0 | $ 0 |
Unrecognized tax positions, end of period | 0 | 0 | $ 0
Domestic tax authority |  |  |
Unrecognized tax positions, beginning of period | 4,932,000 | 1,272,000 | 963,000
Gross increase - current period tax positions | 214,000 | 2,220,000 | 358,000
Gross decrease - prior period tax positions | (1,672,000) |  | (113,000)
Gross increase - prior period tax positions |  | (1,440,000) | (64,000)
Unrecognized tax positions, end of period | $ 3,474,000 | $ 4,932,000 | $ 1,272,000

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- Definition Amount of unrecognized tax benefits. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 740 -SubTopic 10 -Section 45 -Paragraph 10B -URI https://asc.fasb.org/extlink&oid=123427490&loc=SL37586934-109318 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 740 -SubTopic 10 -Section 50 -Paragraph 15A -Subparagraph (a) -URI https://asc.fasb.org/extlink&oid=121826272&loc=SL6600010-109319 + Details
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- Definition Amount of decrease in unrecognized tax benefits resulting from tax positions taken in prior period tax returns. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 740 -SubTopic 10 -Section 50 -Paragraph 15A -Subparagraph (a)(1) -URI https://asc.fasb.org/extlink&oid=121826272&loc=SL6600010-109319 + Details
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- Definition Amount of increase in unrecognized tax benefits resulting from tax positions that have been or will be taken in current period tax return. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 740 -SubTopic 10 -Section 50 -Paragraph 15A -Subparagraph (a)(2) -URI https://asc.fasb.org/extlink&oid=121826272&loc=SL6600010-109319 + Details
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- Definition Amount of increase in unrecognized tax benefits resulting from tax positions taken in prior period tax returns. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 740 -SubTopic 10 -Section 50 -Paragraph 15A -Subparagraph (a)(1) -URI https://asc.fasb.org/extlink&oid=121826272&loc=SL6600010-109319 + Details
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