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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%