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Employee Benefit Plans and Stock-based Compensation (Details) - USD ($)	1 Months Ended				12 Months Ended
	May 31, 2021	May 31, 2019	May 31, 2015	May 31, 2013	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Expected term					0 years	0 years	6 years 1 month 6 days
Options [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Exercised (in shares)					507,000	905,000	113,000
Stock options grants in period					0	0	430,000
Weighted-average grant date fair value of stock options granted (in dollars per share)							$ 1.48
Intrinsic value of options exercised					$ 3,700,000	$ 3,200,000	$ 266,000
1997 Stock Option Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Number of shares available for grant (in shares)					1,928,994
2007 Equity Incentive Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Number of shares authorized for issuance (in shares)					1,300,000
Number of additional shares authorized for issuance (in shares)				2,000,000
2007 Equity Incentive Plan \| Options [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period, minimum					3 years
2007 Equity Incentive Plan \| Restricted Stock Awards [Member] \| Time based vesting [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period, minimum					3 years
2007 Equity Incentive Plan \| Restricted Stock Awards [Member] \| Performance Based Vesting [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period, minimum					12 months
2007 Equity Incentive Plan \| Maximum \| Options [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Expected term					10 years
2015 Equity Incentive Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Number of shares authorized for issuance (in shares)			399,562
Number of additional shares authorized for issuance (in shares)	3,600,000	1,600,000	3,000,000
Number of shares available for grant (in shares)					3,500,000
2015 Equity Incentive Plan \| Consultant [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period, minimum					1 year
2015 Equity Incentive Plan \| Options [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period, minimum					4 years
2015 Equity Incentive Plan \| Restricted Stock Awards [Member] \| Time based vesting [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period, minimum					3 years
2015 Equity Incentive Plan \| Restricted Stock Awards [Member] \| Performance Based Vesting [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period, minimum					12 months
2015 Equity Incentive Plan \| Maximum \| Options [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Expected term					10 years