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Stockholders' Equity - Authorized Stock (Details) - $ / shares | 12 Months Ended |  |
--- | --- | --- | ---
Dec. 31, 2022 | Dec. 31, 2021 | Oct. 01, 2020
Stockholders' Equity |  |  |
Common Stock, Shares Authorized | 100,000,000 | 100,000,000 |
Common stock, par value (in dollars per share) | $ 0.001 | $ 0.001 | $ 0.001
Preferred Stock, Shares Authorized | 2,500,000 | 2,500,000 |
Preferred stock, par value (in dollars per share) | $ 0.001 | $ 0.001 |
Class A convertible preferred stock |  |  |
Stockholders' Equity |  |  |
Preferred Stock, Shares Authorized | 800,000 | 800,000 |
Preferred stock, par value (in dollars per share) | $ 0.001 | $ 0.001 |
Class B convertible preferred stock |  |  |
Stockholders' Equity |  |  |
Preferred Stock, Shares Authorized | 585,000 | 585,000 |
Preferred stock, par value (in dollars per share) | $ 0.001 | $ 0.001 |
Class C convertible preferred stock |  |  |
Stockholders' Equity |  |  |
Preferred Stock, Shares Authorized | 250,000 | 250,000 |
Preferred stock, par value (in dollars per share) | $ 0.001 | $ 0.001 |
Preferred stock, dividend rate (as a percent) | 4.00% |  |

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