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Share based compensation arrangement by share based payment award voting rights of common stock holding percentage.

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Amount of expense for award under share-based payment arrangement. Excludes amount capitalized.

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Aggregate number of common shares reserved for future issuance.

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Weighted-average period over which cost not yet recognized is expected to be recognized for award under share-based payment arrangement, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days.

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Amount of cost to be recognized for nonvested award under share-based payment arrangement. Excludes share and unit options.

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Amount of cost to be recognized for option under share-based payment arrangement.

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Period over which grantee's right to exercise award under share-based payment arrangement is no longer contingent on satisfaction of service or performance condition, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days. Includes, but is not limited to, combination of market, performance or service condition.

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Description of service or performance condition required to be met for earning right to award under share-based payment arrangement. Includes, but is not limited to, combination of market, performance or service condition.

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- Definition

The number of grants made during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan).

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- Definition

Line items represent financial concepts included in a table. These concepts are used to disclose reportable information associated with domain members defined in one or many axes to the table.

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No definition available.

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The highest percentage of annual salary that an employee is permitted to utilize with respect to the plan.

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- Definition

Amount of accumulated difference between fair value of underlying shares on dates of exercise and exercise price on options exercised (or share units converted) into shares.

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The weighted average grant-date fair value of options granted during the reporting period as calculated by applying the disclosed option pricing methodology.

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- Definition

Maximum number of shares that may be issued in accordance with the plan as a proportion of outstanding capital stock.

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No definition available.

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Percentage of vesting of award under share-based payment arrangement.

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Intrinsic value of outstanding award under share-based payment arrangement. Excludes share and unit options.

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No definition available.

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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.

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Purchase price of common stock expressed as a percentage of its fair value.

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No definition available.

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Number of shares issued during the period as a result of an employee stock purchase plan.

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Stock-based Compensation - Additional Information (Details) - USD ($)		1 Months Ended		12 Months Ended
	Jan. 01, 2016	Aug. 31, 2022	Oct. 31, 2021	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020	Sep. 30, 2019	Dec. 31, 2015
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock option expiration period				10 years
Options granted generally vest period						36 months
Options granted generally vest percent						2.08%
Aggregate intrinsic value of stock options exercised				$ 100,000	$ 2,200,000
Weighted average grant date fair value, options granted				$ 1.77	$ 3.97
Unrecognized compensation expense, options granted				$ 14,250,000
Number of shares issued during period				405,192	183,865
Share-Based Payment Arrangement, Option [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Unrecognized stock-based compensation cost, period for recognition				2 years 6 months
Employee Stock Purchase Plan [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Estimated fair value of the shares on the date of grant				85.00%
Common stock, capital shares reserved for future issuance				1,346,626	1,751,818
Unrecognized stock-based compensation cost, period for recognition				5 months
Plan maximum percentage of eligible compensation to purchase shares				15.00%
Stock-based compensation expense				$ 600,000	$ 400,000
Unrecognized stock-based compensation cost				200,000
Time based RSUs
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Unrecognized compensation expense, options granted				$ 2,800,000
Unrecognized stock-based compensation cost, period for recognition				1 year 10 months 6 days
Stock-based compensation expense				$ 1,200,000	$ 200,000
Granted				1,314,210
PSU's Awarded, Grant date fair value				$ 1,941,000
Performance based RSUs
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Unrecognized compensation expense, options granted				$ 100,000
Unrecognized stock-based compensation cost, period for recognition				1 year 3 months
Stock-based compensation expense				$ 55,000
Granted		250,000	435,000	250,000
PSU's Awarded, Grant date fair value		$ 400,000	$ 2,300,000	$ 614,000
Share-Based Payment Arrangement, Tranche One [Member] \| Performance based RSUs
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Vesting rights, description				50% of the PSUs granted will occur within one year of the grant date upon achievement of certain specific milestones ("2021-Tranche 1") and the remaining 50% will vest within two years of the grant date upon achievement of additional company objectives ("2021-Tranche 2").
Share-Based Payment Arrangement, Tranche Two [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Options granted generally vest percent				2.08%
Share-Based Payment Arrangement, Tranche Two [Member] \| Performance based RSUs
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Vesting rights, description		Vesting for 50% of the PSUs granted will occur upon attaining certain specific milestones by December 2023 (“2022-Tranche 1”), and the remaining 50% will vest upon attaining certain specific milestones by December 2024 (“2022-Tranche 2”).
Two Thousand Fifteen Stock Incentive Plan [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock option expiration period				10 years
Employees holding voting rights of all classes of stock, percentage				10.00%
Common stock, capital shares reserved for future issuance				1,932,345	2,276,341			2,444,735
Increase in number of shares available for issuance, as proportion of issued and outstanding shares of common stock, percentage	4.00%
Two Thousand Fifteen Stock Incentive Plan [Member] \| Share-Based Payment Arrangement, Tranche One [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Options granted generally vest period				4 years
Options granted generally vest percent				25.00%
Two Thousand Nineteen Stock Incentive Plan [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock, capital shares reserved for future issuance				1,120,740	486,234		1,815,000
Increase in Common Stock Capital Shares Reserved For Future Issuance					1,000,000
Tranche One \| Performance based RSUs
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock-based compensation expense				$ 1,000,000.0
Tranche Two \| Performance based RSUs
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock-based compensation expense				$ 0
Minimum [Member] \| Two Thousand Fifteen Stock Incentive Plan [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Estimated fair value of the shares on the date of grant				110.00%
Minimum [Member] \| Two Thousand Nineteen Stock Incentive Plan [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Estimated fair value of the shares on the date of grant				100.00%
Maximum [Member] \| Two Thousand Nineteen Stock Incentive Plan [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock option expiration period				10 years