Annual report pursuant to Section 13 and 15(d)

Summary of Significant Accounting Policies - Foreign currency (Details)

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Summary of Significant Accounting Policies - Foreign currency (Details) - USD ($)
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Other (expense) income, net      
Foreign exchange gains (losses) $ (536,000) $ 3,852,000 $ 1,105,000