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Income Taxes - Income Tax (Provision) for Federal Statutory Corporate Income Tax Rate (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021
Income Taxes
Tax benefit (provision) at federal statutory rate	$ (5,768)	$ 1,674
State income tax benefit (provision), net of federal benefit	(1,093)	335
Research and development tax credits	457	361
Foreign earnings or losses taxed at different rates	(68)	(28)
Tax rate change	(60)	(2)
Other	(51)	(31)
Change in valuation allowance	(321)	(2,026)
Tax benefit (provision)	$ (6,904)	$ 283

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