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Stockholders' Equity - Summary of Activity under Employee Stock Purchase Plan (Details) - Employee stock purchase plan - shares	3 Months Ended		9 Months Ended
	Sep. 30, 2022	Sep. 30, 2021	Sep. 30, 2022	Sep. 30, 2021
Summary of the Employee Stock Purchase Plan activity
Outstanding and exercisable, beginning of period (in shares)	405,534	389,414	348,514	341,647
Granted (in shares)	0	0	255,960	253,200
Exercised (in shares)	(4,576)	(5,323)	(17,094)	(24,300)
Forfeited (in shares)	(37,628)	(18,961)	(83,417)	(60,995)
Expired (in shares)	0	0	(140,633)	(144,422)
Outstanding and exercisable, end of period (in shares)	363,330	365,130	363,330	365,130

X

- Definition

Number of options or other stock instruments for which the right to exercise has lapsed under the terms of the plan agreements.

+ 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)(1)(iv)(04)
-URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901

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- Definition

The number of shares under options that were cancelled during the reporting period as a result of occurrence of a terminating event specified in contractual agreements pertaining to the stock option plan.

+ References

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Gross number of share options (or share units) granted during the period.

+ References

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- Definition

Number of options outstanding, including both vested and non-vested options.

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A roll forward is a reconciliation of a concept from the beginning of a period to the end of a period.

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Number of share options (or share units) exercised during the current period.

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