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Stockholders' Equity - Employee Stock Purchase Plan (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2023	Mar. 31, 2022	Apr. 27, 2016
Stockholders' Equity
Stock-based compensation expense	$ 2,023	$ 2,228
2016 Plan
Stockholders' Equity
Shares reserved	5,614,397
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	1,559,151		1,600,000
Incremental share increase (as a percent)	1.00%
Incremental share increase (in shares)	500,000
Stock-based compensation expense	$ 200	$ 200

X

- 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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X

- Definition

Represents the minimum increase in shares on an annual basis.

+ References

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+ Details

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- Definition

Represents the incremental annual share percentage increase minimum.

+ References

No definition available.

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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

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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.

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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

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- Definition

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

+ References

No definition available.

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- Details

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