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Stockholders' Equity - Summary of Activity under Employee Stock Purchase Plan (Details) - Employee stock purchase plan - shares	3 Months Ended
	Mar. 31, 2023	Mar. 31, 2022
Summary of the Employee Stock Purchase Plan activity
Outstanding and exercisable, beginning of period (in shares)	340,976	348,514
Granted (in shares)	0	255,960
Exercised (in shares)	(3,130)	(10,553)
Forfeited (in shares)	(21,421)	(25,486)
Expired (in shares)	(132,999)	(140,633)
Outstanding and exercisable, end of period (in shares)	183,426	427,802

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)
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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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