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Equity Incentive Plans and Stock-Based Compensation - Incentive Stock Options and Nonqualified Stock Options - Narrative (Details) - 2015 Equity and 2020 Incentive Plan $ in Millions | 6 Months Ended
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Jun. 30, 2023 USD ($)
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |
Vesting period | 4 years
Expiration period from date of grant | 10 years
Incentive Stock Options and Nonqualified Stock Options |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |
Unrecognized compensation cost | $ 53.1
Unrecognized compensation expense, weighted average period | 2 years 8 months 12 days

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