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Income Taxes - Reconciliation of Statutory to Effective Tax Rate (Details)
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Income Tax Disclosure [Abstract]    
Federal statutory rate 21.00% 21.00%
State taxes, net of federal benefit (0.10%) (0.10%)
Foreign earnings at different rates (0.10%) (0.10%)
Tax credits 1.80% 0.40%
Permanent differences (4.60%) 4.40%
Prior year true-up (0.80%) 0.00%
Change in valuation allowance (17.80%) (26.30%)
Effective tax rate (0.60%) (0.70%)