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Stockholders' Equity - Authorized Shares and Preferred Stock (Details) - $ / shares | Jun. 30, 2023 | May 31, 2023 | Mar. 31, 2023 | Dec. 31, 2022 | Jun. 30, 2022 | Mar. 31, 2022 | Dec. 31, 2021
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Stockholders Equity Note [Line Items] |  |  |  |  |  |  |
Common stock, shares authorized (in shares) | 80,000,000 | 40,000,000 |  | 80,000,000 |  |  |
Common stock, par value (in dollars per share) | $ 0.01 |  | $ 0.01 | $ 0.01 | $ 0.01 | $ 0.01 | $ 0.01
Preferred stock, shares authorized (in shares) | 10,000,000 |  |  | 10,000,000 |  |  |
Preferred stock, par value (in dollars per share) | $ 0.01 |  | $ 0.01 | $ 0.01 | $ 0.01 | $ 0.01 | $ 0.01
Preferred stock, shares outstanding (in shares) | 20,981 |  |  | 11,357 |  |  |
Series E |  |  |  |  |  |  |
Stockholders Equity Note [Line Items] |  |  |  |  |  |  |
Preferred stock, shares outstanding (in shares) | 11,357 |  |  |  |  |  |
Series E-1 |  |  |  |  |  |  |
Stockholders Equity Note [Line Items] |  |  |  |  |  |  |
Preferred stock, shares outstanding (in shares) | 11,357 |  |  |  |  |  |
Series F-2 |  |  |  |  |  |  |
Stockholders Equity Note [Line Items] |  |  |  |  |  |  |
Preferred stock, shares outstanding (in shares) | 9,624 |  |  |  |  |  |

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