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Equity and Stock-based Compensation -At-the-Market Program-Additional Information (Details) - USD ($)		12 Months Ended
	Feb. 27, 2023	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Issuance of common stock under ATM Program		$ 48,407,000
Proceeds from sale of common stock		$ 3,731,000	$ 4,184,000	$ 12,701,000
ATM Program [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Issuance of common stock under ATM Program	$ 200,000
Issuance of common stock under ATM Program shares		2,472,090,000
Proceeds from sale of common stock		$ 48,400,000
Weighted-average offering prices per share		$ 19.63

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