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Employee Benefit Plans and Stock-based Compensation - Assumptions (Details) - USD ($) | 12 Months Ended
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Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Weighted-average assumptions |  |  |
Expected dividend (in hundredths) | 0.00% | 0.00% | 0.00%
Retirement Savings Plan |  |  |
Period after which all full time employees are eligible to participate in the savings plan | 90 days |  |
Contributions to the retirement savings plans | $ 191,000 | $ 208,000 | $ 188,000
Maximum |  |  |
Retirement Savings Plan |  |  |
Maximum percentage of employer matching contribution if employees contribute at least 6% of base pay (in hundredths) | 4.00% |  |
Minimum |  |  |
Retirement Savings Plan |  |  |
Minimum percentage of employee contribution to get 4% of employer's contribution (in hundredths) | 6.00% |  |

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