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Income Taxes - Narrative (Details) - USD ($) | 12 Months Ended
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Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Income Taxes [Line Items] |  |  |
Valuation allowance | $ 44,596,000 | $ 32,538,000 |
Increase in valuation allowance | 12,100,000 | 4,600,000 |
Unrecognized tax benefits including interest and penalties | 3,200,000 | 3,000,000 |
Interest and penalties | 0 | 0 | $ 0
Unrecognized tax benefits that would impact effective tax rate | 3,200,000 | 3,000,000 | 3,000,000
Deferred tax liability related to state tax liabilities on future distributions | 500,000 | $ 900,000 | $ 2,100,000
Federal |  |  |
Income Taxes [Line Items] |  |  |
Valuation allowance | 24,500,000 |  |
State |  |  |
Income Taxes [Line Items] |  |  |
Net operating losses | 50,600,000 |  |
Valuation allowance | 20,100,000 |  |
Foreign |  |  |
Income Taxes [Line Items] |  |  |
Net operating losses | 700,000 |  |
Research and experimentation | Federal |  |  |
Income Taxes [Line Items] |  |  |
Income tax credit carryforwards | 4,200,000 |  |
Research and experimentation | State |  |  |
Income Taxes [Line Items] |  |  |
Income tax credit carryforwards | $ 12,800,000 |  |

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- Definition [Line Items] for Income Taxes [Table] + References No definition available. + Details
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- Definition Unrecognized Tax Benefits, Including Income Tax Interest and Penalties Accrued + References No definition available. + Details
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- Definition Amount of deferred tax assets for which it is more likely than not that a tax benefit will not be realized. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 740 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c) -URI https://asc.fasb.org/extlink&oid=121826272&loc=d3e32537-109319 + Details
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- Definition Amount of operating loss carryforward, before tax effects, available to reduce future taxable income under enacted tax laws. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 740 -SubTopic 10 -Section 50 -Paragraph 3 -Subparagraph (a) -URI https://asc.fasb.org/extlink&oid=121826272&loc=d3e32559-109319 + Details
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- Definition The amount of the tax credit carryforward, before tax effects, available to reduce future taxable income under enacted tax laws. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 740 -SubTopic 10 -Section 50 -Paragraph 3 -Subparagraph (a) -URI https://asc.fasb.org/extlink&oid=121826272&loc=d3e32559-109319 + Details
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- Definition Amount of expense for interest on an underpayment of income taxes and penalties related to a tax position claimed or expected to be claimed in the tax return. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 740 -SubTopic 10 -Section 50 -Paragraph 15 -Subparagraph (c) -URI https://asc.fasb.org/extlink&oid=121826272&loc=d3e32718-109319 + Details
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