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Stock-Based Compensation - Shares Reserved (Details) - shares
Dec. 31, 2022
Dec. 31, 2020
2004 Purchase Plan    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Number of shares in reserve (in shares) 5,392,206  
2020 Equity Incentive Plan    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Number of shares in reserve (in shares) 4,403,832  
Number of shares available for grant (in shares) 3,213,089 4,000,000