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Summary of Significant Accounting Policies- PPE (Details) - USD ($)
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Property and Equipment      
Net gains (losses) related to impairment charges and the sale/disposal of furniture and equipment     $ 691,000
Leasehold impairment charge $ 0    
Asset Impairment Charges $ 0 $ 0  
Machinery and equipment      
Property and Equipment      
Estimated useful lives 5 years    
Computer hardware and software      
Property and Equipment      
Estimated useful lives 3 years    
Furniture and fixtures      
Property and Equipment      
Estimated useful lives 5 years    
Leasehold improvements | Maximum      
Property and Equipment      
Estimated useful lives 7 years