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Operating Expenses, Stock Compensation Expense (Details)
$ / shares in Units, $ in Thousands
12 Months Ended
Dec. 31, 2021
USD ($)
shares
$ / shares
Dec. 31, 2020
USD ($)
shares
$ / shares
Dec. 31, 2019
USD ($)
shares
$ / shares
Operating Expense [Abstract]      
Expense recognized from stock compensation | $ $ 4,371 $ 4,792 $ 2,532
Stock compensation expense [Abstract]      
Contractual life for outstanding stock compensation series 9 months    
Vesting value $8.22 [Member]      
Stock compensation expense [Abstract]      
Fair value of shares vested (in dollars per share) | $ / shares $ 8.22 $ 8.22  
Number of shares vested (in shares) | shares 435,960 32,445  
Vesting value $4.25 [Member]      
Stock compensation expense [Abstract]      
Fair value of shares vested (in dollars per share) | $ / shares $ 4.25 $ 4.25  
Number of shares vested (in shares) | shares 163,764 125,649  
Vesting value $5.52 [Member]      
Stock compensation expense [Abstract]      
Fair value of shares vested (in dollars per share) | $ / shares $ 5.52    
Number of shares vested (in shares) | shares 120,986    
Vesting value $3.22 [Member]      
Stock compensation expense [Abstract]      
Fair value of shares vested (in dollars per share) | $ / shares $ 3.22    
Number of shares vested (in shares) | shares 120,986    
Vesting value $3.56 [Member]      
Stock compensation expense [Abstract]      
Fair value of shares vested (in dollars per share) | $ / shares   $ 3.56  
Number of shares vested (in shares) | shares   207,786  
Vesting value $4.60 [Member]      
Stock compensation expense [Abstract]      
Fair value of shares vested (in dollars per share) | $ / shares   $ 4.60 $ 4.60
Number of shares vested (in shares) | shares   235,650 10,435
Vesting value $4.61 [Member]      
Stock compensation expense [Abstract]      
Fair value of shares vested (in dollars per share) | $ / shares     $ 4.61
Number of shares vested (in shares) | shares     281,094
Vesting value $2.30 [Member]      
Stock compensation expense [Abstract]      
Fair value of shares vested (in dollars per share) | $ / shares     $ 2.30
Number of shares vested (in shares) | shares     212,823
Vesting value $3.04 [Member]      
Stock compensation expense [Abstract]      
Fair value of shares vested (in dollars per share) | $ / shares     $ 3.04
Number of shares vested (in shares) | shares     206,118
Vesting value $3.92 [Member]      
Stock compensation expense [Abstract]      
Fair value of shares vested (in dollars per share) | $ / shares     $ 3.92
Number of shares vested (in shares) | shares     80,101