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401(k) Plan (Details) - USD ($) $ in Millions | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Retirement Benefits [Abstract] |  |  |
Employer matching contribution, percent | 50.00% |  |
Maximum annual contribution per employee, percent | 6.00% |  |
Company's contribution to 401(k) plan | $ 1.4 | $ 1.8 | $ 1.5

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- Definition Amount of cost for defined contribution plan. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 715 -SubTopic 70 -Name Accounting Standards Codification -Section 50 -Paragraph 1 -Publisher FASB -URI https://asc.fasb.org//1943274/2147480794/715-70-50-1 + Details
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