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Intangible Assets - Amortization of Intangible Assets (Details) - USD ($)
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Goodwill and Intangible Assets Disclosure [Abstract]      
Amortization expense related to intangible assets $ 4,100,000 $ 2,100,000 $ 100,000
Impairment of intangible assets 700,000 0 $ 0
2023 3,434,000    
2024 2,694,000    
2025 2,560,000    
2026 2,452,000    
2027 and thereafter 10,701,000    
Net Carrying Value $ 21,841,000 $ 25,890,000