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Equity Incentive Plans and Stock-Based Compensation (Details Narrative) |  | 3 Months Ended | 12 Months Ended |
--- | --- | --- | --- | ---
Apr. 30, 2020 shares | Sep. 30, 2019 shares | Dec. 31, 2022 USD ($) plan $ / shares shares | Dec. 31, 2021 USD ($) $ / shares shares | Dec. 31, 2020 USD ($) $ / shares shares | Dec. 31, 2019 shares
Stock-Based Compensation |  |  |  |  |  |  |
Tenure of award |  |  |  | 10 years |  |  |
Minimum |  |  |  |  |  |  |
Stock-Based Compensation |  |  |  |  |  |  |
Awards, vesting rights |  |  |  | 0.00% |  |  |
Maximum |  |  |  |  |  |  |
Stock-Based Compensation |  |  |  |  |  |  |
Awards, vesting rights |  |  |  | 200.00% |  |  |
Option One |  |  |  |  |  |  |
Stock-Based Compensation |  |  |  |  |  |  |
Requisite service period |  |  |  | 60 months |  |  |
Option Two |  |  |  |  |  |  |
Stock-Based Compensation |  |  |  |  |  |  |
Requisite service period |  |  |  | 48 months |  |  |
Stock compensation plan |  |  |  |  |  |  |
Stock-Based Compensation |  |  |  |  |  |  |
Number of additional shares authorized | shares | [1] |  |  |  |  | 7,800,000 |
Shares available for issuance | shares |  |  |  | 7,655,769 | 10,492,178 | 12,412,320 | 6,826,863
Options granted | shares |  |  |  |  |  | 40,000 |
Stock compensation plan | 2019 Inducement Equity Incentive Plan |  |  |  |  |  |  |
Stock-Based Compensation |  |  |  |  |  |  |
Number of additional shares authorized | shares |  |  | 400,000 |  |  |  |
Contingently issuable ESPP shares |  |  |  |  |  |  |
Stock-Based Compensation |  |  |  |  |  |  |
Number of additional shares authorized | shares |  | 2,000,000 |  |  |  |  |
Number of employee stock purchase plans | plan |  |  |  | 1 |  |  |
Minimum number of hours of weekly employment in order to qualify for eligibility in the plan |  |  |  | 20 hours |  |  |
Minimum number of months of employment in a fiscal year in order to qualify for eligibility in the plan |  |  |  | 5 months |  |  |
Offering period |  |  |  | 6 months |  |  |
Percentage of the price at the beginning of the offering period or price at the end of each offering period to derive purchase price |  |  |  | 85.00% |  |  |
Maximum share value per employee in any calendar year | $ |  |  |  | $ 25,000 |  |  |
Employee stock purchase plan, shares issued during period | shares |  |  |  | 255,614 | 384,087 | 467,065 |
Employee stock purchase plan, weighted-average price per share | $ / shares |  |  |  | $ 20.60 | $ 12.95 | $ 10.51 |
Shares available for issuance | shares |  |  |  | 2,600,000 |  |  |
Stock-based compensation expense | $ |  |  |  | $ 1,700,000 | $ 1,400,000 | $ 1,500,000 |
Unrecognized compensation cost | $ |  |  |  | $ 800,000 |  |  |
Unrecognized compensation cost, weighted-average period |  |  |  | 4 months |  |  |
Stock options |  |  |  |  |  |  |
Stock-Based Compensation |  |  |  |  |  |  |
Options granted | shares |  |  |  |  |  | 40,000 |
Stock-based compensation expense | $ |  |  |  | $ 100,000 | 400,000 | $ 600,000 |
Unrecognized compensation cost | $ |  |  |  | $ 100,000 |  |  |
Unrecognized compensation cost, weighted-average period |  |  |  | 9 months 18 days |  |  |
Total fair value of options vested | $ |  |  |  | $ 1,700,000 | $ 2,000,000 | $ 3,300,000 |
Nonvested equity stock and stock units |  |  |  |  |  |  |
Stock-Based Compensation |  |  |  |  |  |  |
Requisite service period |  |  |  | 4 years | 4 years | 4 years |
Stock-based compensation expense | $ |  |  |  | $ 33,800,000 | $ 25,700,000 | $ 23,700,000 |
Unrecognized compensation cost | $ |  |  |  | $ 63,500,000 |  |  |
Unrecognized compensation cost, weighted-average period |  |  |  | 2 years 1 month 6 days |  |  |
Awards, nonvested grants in period, shares | shares |  |  |  | 2,338,255 | 2,363,885 | 1,986,117 |
Awards, nonvested grants in period, fair value | $ |  |  |  | $ 65,600,000 | $ 50,100,000 | $ 31,000,000 |
Nonvested equity stock and stock units | Director |  |  |  |  |  |  |
Stock-Based Compensation |  |  |  |  |  |  |
Requisite service period |  |  |  | 1 year | 1 year | 1 year |
[1] | On April 30, 2020, the Company’s stockholders approved an additional 7,800,000 shares for issuance under the 2015 Plan.

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- Definition Represents the minimum number of hours per week that employees are required to be employed in order to be eligible to participate in the Employee Stock Purchase Plan. + References No definition available. + Details
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- Definition Represents the minimum number of months in a fiscal year that employees are required to be employed in order to be eligible to participate in the Employee Stock Purchase Plan. + References No definition available. + Details
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- Definition Estimated period over which an employee is required to provide service in exchange for the equity-based payment award, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days. + References Reference 1: http://www.xbrl.org/2003/role/exampleRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (a)(1) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition The number of grants made during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan). + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(2)(iii)(01) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition The difference between the maximum number of shares (or other type of equity) authorized for issuance under the plan (including the effects of amendments and adjustments), and the sum of: 1) the number of shares (or other type of equity) already issued upon exercise of options or other equity-based awards under the plan; and 2) shares (or other type of equity) reserved for issuance on granting of outstanding awards, net of cancellations and forfeitures, if applicable. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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