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Summary of Significant Accounting Policies - Software Development Costs (Details) - USD ($)
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Organization, Consolidation and Presentation of Financial Statements [Abstract]      
Unamortized software development costs $ 30,877,000 $ 33,152,000 $ 28,512,000
Software development amortization expense 18,211,000 15,412,000 10,843,000
Software development impairment charges $ 0 $ 1,300,000 $ 900,000
Software and Software Development Costs | Minimum      
Intangible assets      
Estimated economic life 2 years    
Software and Software Development Costs | Maximum      
Intangible assets      
Estimated economic life 3 years