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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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Amount of expense for award under share-based payment arrangement. Excludes amount capitalized.

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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.

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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).

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Period from grant date that an equity-based award expires, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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