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Loss Per Share - potentially dilutive outstanding securities were excluded from the computation of diluted net loss per share (Details) - shares
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Public Warrants      
Antidilutive Securities Excluded from Computation of Earnings Per Share, Amount 6,899,988
Stock Options      
Antidilutive Securities Excluded from Computation of Earnings Per Share, Amount 16,939,093 18,967,724 20,746,432
Private Warrants      
Antidilutive Securities Excluded from Computation of Earnings Per Share, Amount 4,104,000