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Stock-Based Compensation, Summary of Stock-Based Compensation Plans (Details) - shares
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
May 31, 2008
Stock-Based Compensation Expense [Abstract]          
Non-plan stock option grants to employees and non-employees (in shares) 1,070,000 2,660,000      
Non-plan grants outstanding (in shares) 5,745,561 4,895,561 3,987,575    
Equity Incentive Plan 2019 [Member]          
Stock-Based Compensation Expense [Abstract]          
Number of shares authorized for issuance (in shares) 7,000,000     4,000,000  
Stock awards, available for future grant (in shares) 1,966,279        
Incentive Compensation Plan 2009 [Member]          
Stock-Based Compensation Expense [Abstract]          
Number of shares authorized for issuance (in shares)         6,733,334