Stock Options and Restricted Stock - Exercise Price (Details) $ / shares in Units, $ in Millions	9 Months Ended
Sep. 30, 2023 USD ($) $ / shares shares
Exercise Price
Options Outstanding, Number Outstanding \| shares	1,917,444
Options Outstanding, Weighted Average Exercise Price	$ 10.22
Options Outstanding, Weighted Average Remaining Contractual Life	5 years 7 months 6 days
Options Exercisable, Number Outstanding \| shares	1,378,194
Options Exercisable, Weighted Average Exercise Price	$ 8.88
Total unrecognized compensation cost \| $	$ 2.2
Weighted-average period over which total unrecognized compensation cost is expected to be recognized (in years)	2 years 8 months 12 days
3.00 - 3.99
Exercise Price
Exercise Price, lower range	$ 3.00
Exercise Price, upper range	$ 3.99
Options Outstanding, Number Outstanding \| shares	88,500
Options Outstanding, Weighted Average Exercise Price	$ 3.07
Options Outstanding, Weighted Average Remaining Contractual Life	4 months 24 days
Options Exercisable, Number Outstanding \| shares	88,500
Options Exercisable, Weighted Average Exercise Price	$ 3.07
7.00 - 7.99
Exercise Price
Exercise Price, lower range	7.00
Exercise Price, upper range	$ 7.99
Options Outstanding, Number Outstanding \| shares	893,416
Options Outstanding, Weighted Average Exercise Price	$ 7.47
Options Outstanding, Weighted Average Remaining Contractual Life	4 years
Options Exercisable, Number Outstanding \| shares	893,416
Options Exercisable, Weighted Average Exercise Price	$ 7.47
8.00 - 8.99
Exercise Price
Exercise Price, lower range	8.00
Exercise Price, upper range	$ 8.99
Options Outstanding, Number Outstanding \| shares	17,500
Options Outstanding, Weighted Average Exercise Price	$ 8.76
Options Outstanding, Weighted Average Remaining Contractual Life	6 years 6 months
Options Exercisable, Number Outstanding \| shares	11,250
Options Exercisable, Weighted Average Exercise Price	$ 8.76
10.00 - 10.99
Exercise Price
Exercise Price, lower range	10.00
Exercise Price, upper range	$ 10.99
Options Outstanding, Number Outstanding \| shares	249,000
Options Outstanding, Weighted Average Exercise Price	$ 10.63
Options Outstanding, Weighted Average Remaining Contractual Life	9 years 8 months 12 days
Options Exercisable, Number Outstanding \| shares	7,500
Options Exercisable, Weighted Average Exercise Price	$ 10.08
11.00 - 11.99
Exercise Price
Exercise Price, lower range	11.00
Exercise Price, upper range	$ 11.99
Options Outstanding, Number Outstanding \| shares	85,000
Options Outstanding, Weighted Average Exercise Price	$ 11.27
Options Outstanding, Weighted Average Remaining Contractual Life	5 years 7 months 6 days
Options Exercisable, Number Outstanding \| shares	68,000
Options Exercisable, Weighted Average Exercise Price	$ 11.27
12.00 - 12.99
Exercise Price
Exercise Price, lower range	12.00
Exercise Price, upper range	$ 12.99
Options Outstanding, Number Outstanding \| shares	263,528
Options Outstanding, Weighted Average Exercise Price	$ 12.90
Options Outstanding, Weighted Average Remaining Contractual Life	5 years 10 months 24 days
Options Exercisable, Number Outstanding \| shares	206,778
Options Exercisable, Weighted Average Exercise Price	$ 12.90
13.00 - 13.99
Exercise Price
Exercise Price, lower range	13.00
Exercise Price, upper range	$ 13.99
Options Outstanding, Number Outstanding \| shares	25,000
Options Outstanding, Weighted Average Exercise Price	$ 13.22
Options Outstanding, Weighted Average Remaining Contractual Life	4 years 7 months 6 days
Options Exercisable, Number Outstanding \| shares	25,000
Options Exercisable, Weighted Average Exercise Price	$ 13.22
17.00 - 17.99
Exercise Price
Exercise Price, lower range	17.00
Exercise Price, upper range	$ 17.99
Options Outstanding, Number Outstanding \| shares	295,500
Options Outstanding, Weighted Average Exercise Price	$ 17.50
Options Outstanding, Weighted Average Remaining Contractual Life	8 years 3 months 18 days
Options Exercisable, Number Outstanding \| shares	77,750
Options Exercisable, Weighted Average Exercise Price	$ 17.50

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 option under share-based payment arrangement.

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The floor of a customized range of exercise prices for purposes of disclosing shares potentially issuable under outstanding stock option awards on all stock option plans and other required information pertaining to awards in the customized range.

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The number of shares reserved for issuance pertaining to the outstanding exercisable stock options as of the balance sheet date in the customized range of exercise prices for which the market and performance vesting condition has been satisfied.

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The number of shares reserved for issuance pertaining to the outstanding stock options as of the balance sheet date for all option plans in the customized range of exercise prices.

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The ceiling of a customized range of exercise prices for purposes of disclosing shares potentially issuable under outstanding stock option awards on all stock option plans and other required information pertaining to awards in the customized range.

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Weighted average exercise price as of the balance sheet date for those equity-based payment arrangements exercisable and outstanding.

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The weighted average price as of the balance sheet date at which grantees could acquire the underlying shares with respect to all outstanding stock options which are in the customized range of exercise prices.

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Weighted average remaining contractual term of outstanding stock options, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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