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Stockholders' Equity - Employee Stock Purchase Plan (Details) - USD ($) $ in Thousands | 3 Months Ended | 9 Months Ended |
--- | --- | --- | ---
Sep. 30, 2022 | Sep. 30, 2021 | Sep. 30, 2022 | Sep. 30, 2021 | Apr. 27, 2017
Stockholders' Equity |  |  |  |  |
Stock-based compensation expense | $ 2,560 | $ 2,588 | $ 7,681 | $ 7,703 |
Employee Stock Purchase Plan |  |  |  |  |
Stockholders' Equity |  |  |  |  |
Purchase price of common stock under plan (as a percent) |  |  | 85.00% |  |
Offering period (in months) |  |  | 6 months |  |
Shares reserved | 1,623,486 |  | 1,623,486 |  | 1,600,000
Incremental share increase (as a percent) |  |  | 1.00% |  |
Incremental share increase (in shares) |  |  | 500,000 |  |
Increase in number of shares reserved and available for issuance |  |  | 194,518 |  |
Stock-based compensation expense | $ 200 | $ 200 | $ 700 | $ 600 |

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- Definition Period which an employee's right to purchase shares of stock at a discount, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days. + References No definition available. + Details
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- Definition Represents the minimum increase in shares on an annual basis. + References No definition available. + Details
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- Definition Amount of expense for award under share-based payment arrangement. Excludes amount capitalized. + 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 (h)(1)(i) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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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. + References No definition available. + Details
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- Definition Aggregate number of common shares reserved for future issuance. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 210 -SubTopic 10 -Section S99 -Paragraph 1 -Subparagraph (SX 210.5-02.29) -URI https://asc.fasb.org/extlink&oid=120391452&loc=d3e13212-122682 + Details
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- Definition Purchase price of common stock expressed as a percentage of its fair value. + References No definition available. + Details
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- Details
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