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Employee Stock Purchase Plan (Details) - USD ($)
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Shares available for grant 3,800,000    
Employee Stock Purchase Plan      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Maximum employee subscription rate 15.00%    
Share-based Compensation Arrangement by Share-based Payment Award, Maximum Number of Shares Per Employee 2,500    
Maximum employee subscription $ 25,000    
Purchase price of common stock, percent 85.00%    
Shares available for grant 3,400,000    
Issuance of common stock under Employee Stock Purchase Plan (Shares) 113,785 313,773 464,757
Proceeds from issuance of shares under incentive and share-based compensation plans, excluding stock options $ 3,000,000 $ 2,600,000 $ 1,500,000
Risk free interest rate 1.20% 0.80% 0.80%
Dividend yield 0.10% 0.30% 0.70%
Volatility factor of the expected market price of the Company's common stock 69.10% 106.10% 166.20%
Expected life (in years) 6 months 6 months 6 months
Stock-based compensation expense $ 1,200,000 $ 1,400,000 $ 900,000