Annual report pursuant to Section 13 and 15(d)

Basis of Presentation and Summary of Significant Accounting Policies - Debt issuance and Revenue Recognition (Details)

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Basis of Presentation and Summary of Significant Accounting Policies - Debt issuance and Revenue Recognition (Details)
12 Months Ended
Dec. 31, 2022
USD ($)
Dec. 31, 2021
USD ($)
Basis of Presentation and Summary of Significant Accounting Policies    
Debt issuance costs $ 800,000 $ 1,100,000
Revenue Recognition    
Number of Performance Obligation for Contracted Goods and Services 1  
Customer incentives liability $ 6,200,000 $ 3,200,000