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Equity and Stock Compensation Plans - Employee Stock Purchase Plan (Details) - USD ($) | 1 Months Ended | 12 Months Ended
--- | --- | ---
May 31, 2021 | Dec. 31, 2022 | Dec. 31, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |
Total stock-based compensation expense |  | $ 1,707,000 | $ 1,567,000
2021 ESPP Plan [Member] |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |
Percentage of common stock at a price lower of the fair market value | 85.00% |  |
Period of common stock offering | 6 months |  |
Total stock-based compensation expense |  | 100,000 | $ 100,000
Annual purchase limit |  | $ 25,000 |
Total number of common stock shares reserved for issuance |  | 1,000,000 |
Number of common stock shares reserved for issuance |  | 870,435 |
Issuance of common stock under employee stock purchase plan (in shares) |  | 75,066 | 4,499
1996 ESPP Plan [Member] |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |
Issuance of common stock under employee stock purchase plan (in shares) |  | 0 | 6,972

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