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Stockholders' Equity - Employee Stock Purchase Plan (Details) - USD ($)
shares in Thousands, $ in Thousands
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Number of shares available for grant (in shares) 3,400    
ESPP | Common Stock      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Remaining number of shares authorized to be repurchase (in shares) 135    
Share-based compensation expense $ 200 $ 200 $ 200
Discount from market price, offering date 15.00%    
Number of shares issued to employees (in shares) 67 85 145
ESPP | Employee Stock Purchase Plan      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Purchase price of common stock, percent 85.00%    
Maximum purchase value during offering period, per employee $ 15    
ESPP | Employee Stock Purchase Plan | Common Stock      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Number of shares available for grant (in shares) 500    
ESPP | Employee Stock Purchase Plan | Minimum      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Percentage of purchase value during offering period, per employee 0.00%    
ESPP | Employee Stock Purchase Plan | Maximum      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Percentage of purchase value during offering period, per employee 10.00%