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IntraNav Acquisition - Narrative (Details) - USD ($)
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 09, 2021
Dec. 31, 2020
Business Acquisition [Line Items]        
Goodwill, net $ 0 $ 7,673,000   $ 6,588,000
IntraNav        
Business Acquisition [Line Items]        
Cash consideration     $ 1,100,000  
Goodwill, net     $ 482,000  
Total acquisition costs $ 209,036