Please read the following table in Markdown format and then answer the question according to the table. Table cells in one row are seperated by '|', and different rows are seperated by '
'.

Table:
| Rider | Manufacturer | Laps | Time/Retired | Grid |
| --- | --- | --- | --- | --- |
| Hiroshi Aoyama | KTM | 20.0 | 43:09.316 | 1.0 |
| Héctor Barberá | Aprilia | 20.0 | +2.251 | 7.0 |
| Jorge Lorenzo | Aprilia | 20.0 | +2.957 | 3.0 |
| Mika Kallio | KTM | 20.0 | +2.965 | 2.0 |
| Thomas Lüthi | Aprilia | 20.0 | +7.305 | 6.0 |
| Julián Simón | Honda | 20.0 | +8.747 | 8.0 |
| Roberto Locatelli | Gilera | 20.0 | +16.105 | 10.0 |
| Marco Simoncelli | Gilera | 20.0 | +26.101 | 11.0 |
| Yuki Takahashi | Honda | 20.0 | +28.032 | 12.0 |
| Aleix Espargaró | Aprilia | 20.0 | +34.754 | 14.0 |
| Andrea Dovizioso | Honda | 20.0 | +35.888 | 4.0 |
| Karel Abrahám | Aprilia | 20.0 | +42.514 | 13.0 |
| Shuhei Aoyama | Honda | 20.0 | +48.020 | 16.0 |
| Alex Baldolini | Aprilia | 20.0 | +48.058 | 17.0 |
| Dirk Heidolf | Aprilia | 20.0 | +49.190 | 19.0 |
| Ratthapark Wilairot | Honda | 20.0 | +49.273 | 15.0 |
| Eugene Laverty | Honda | 20.0 | +53.468 | 20.0 |
| Taro Sekiguchi | Aprilia | 20.0 | +1:02.665 | 25.0 |
| Jules Cluzel | Honda | 20.0 | +1:15.625 | 18.0 |
| Fabrizio Lai | Aprilia | 20.0 | +1:17.024 | 21.0 |
| Imre Tóth | Aprilia | 20.0 | +1:32.646 | 24.0 |
| Federico Sandi | Aprilia | 17.0 | Retirement | 23.0 |
| Doni Tata Pradita | Yamaha | 16.0 | Retirement | 26.0 |
| Alex de Angelis | Aprilia | 10.0 | Accident | 9.0 |
| Efrén Vázquez | Aprilia | 9.0 | Accidentt | 22.0 |
| Álvaro Bautista | Aprilia | 6.0 | Retirement | 5.0 |
Question:
Who is the rider who did less than 20 laps on a grid number greater than 23?
Answer:
Doni Tata Pradita