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Equity - Equity Incentive Plan (Details) - shares
3 Months Ended
Mar. 31, 2023
Dec. 31, 2022
Equity Incentive Plan [Member]    
Share-based compensation    
Outstanding options and restricted stock units 3,332,000 3,202,000
Reserved but unissued shares under the Plans 2,530,000 2,777,000
Number of shares authorized 5,862,000 5,979,000
Increases in the number of authorized shares 400,000  
2021 Plan    
Share-based compensation    
Maximum number of shares that may be issued as a proportion of outstanding stock 10.00%  
Maximum increase in number of shares available for issuance 400,000