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Stock Benefit Plans and Stock-Based Compensation - Schedule of Assumptions used to Estimate Fair Value of Stock Options Granted and Stock Purchase Rights under ESPP (Details) - ESPP
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Risk-free interest rate, minimum 0.07% 0.04% 0.12%
Risk-free interest rate, maximum 4.54% 0.12% 1.58%
Weighted average expected life (years)   6 months 6 months
Volatility, minimum 50.29% 49.98% 54.96%
Volatility, maximum 64.53% 78.37% 102.50%
Maximum      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Weighted average expected life (years) 7 months 6 days    
Minimum      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Weighted average expected life (years) 6 months