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Stockholders' Equity, Stock-based Valuation Information (Details) | 12 Months Ended
--- | ---
Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Employee Stock Options [Member] |  |  |
Weighted-Average Assumptions [Abstract] |  |  |
Risk-free interest rate | 2.10% | 0.60% | 1.50%
Dividend yield | 0.00% | 0.00% | 0.00%
Volatility | 54.50% | 54.00% | 58.60%
Expected life | 6 years 3 months 18 days | 4 years 10 months 24 days | 4 years 8 months 12 days
Employee Stock Options [Member] | 2011 Equity Incentive Plan [Member] |  |  |
Weighted-Average Assumptions [Abstract] |  |  |
Award term | 7 years |  |
Employee Stock Options [Member] | 2011 Equity Incentive Plan [Member] | Issued after December 31, 2021 [Member] |  |  |
Weighted-Average Assumptions [Abstract] |  |  |
Award term | 10 years |  |
Employee Stock Options [Member] | 2020 Equity Incentive Plan [Member] |  |  |
Weighted-Average Assumptions [Abstract] |  |  |
Award term | 7 years |  |
Employee Stock Options [Member] | 2020 Equity Incentive Plan [Member] | Issued after December 31, 2021 [Member] |  |  |
Weighted-Average Assumptions [Abstract] |  |  |
Award term | 10 years |  |
Board of Director Stock Options [Member] |  |  |
Weighted-Average Assumptions [Abstract] |  |  |
Risk-free interest rate | 2.90% | 1.20% | 0.50%
Dividend yield | 0.00% | 0.00% | 0.00%
Volatility | 56.20% | 55.90% | 57.60%
Expected life | 7 years 4 months 24 days | 7 years 3 months 18 days | 6 years 8 months 12 days
ESPP [Member] |  |  |
Weighted-Average Assumptions [Abstract] |  |  |
Risk-free interest rate | 1.20% | 0.10% | 0.80%
Dividend yield | 0.00% | 0.00% | 0.00%
Volatility | 50.10% | 42.40% | 47.90%
Expected life | 6 months | 6 months | 6 months

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- Definition The estimated dividend rate (a percentage of the share price) to be paid (expected dividends) to holders of the underlying shares over the option's term. + 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 (f)(2)(iii) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition The risk-free interest rate assumption that is used in valuing an option on its own shares. + 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 (f)(2)(iv) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition Rate of weighted-average expected volatility for award under share-based payment arrangement. + 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 (f)(2)(ii) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition 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. + 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)(2) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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