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Stock-Based Compensation and Stock Awards - Stock Options - Additional Information (Details) - Stock options - shares
12 Months Ended
May 12, 2021
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
May 12, 2017
May 13, 2004
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Antidilutive securities (in shares)   0 46,000 109,000    
2004 Plan            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Common stock reserved (up to) (in shares)           2,696,294
2017 Plan            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Common stock reserved (up to) (in shares)         1,500,000  
Increase in common stock shares reserved 1,900,000