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Commitments and Contingencies (Details) - USD ($)
3 Months Ended 6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Dec. 31, 2022
Commitments and Contingencies Disclosure [Abstract]          
Royalty expense $ 953,000 $ 262,000 $ 1,433,000 $ 504,000  
Accrued royalties $ 199,000   199,000   $ 544,000
Distributed earnings     $ 0 $ 0