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Stockholders' Equity - Company's Stock Option Activity (Details) - $ / shares
 12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
2003 Stock Incentive Plan      
OUTSTANDING OPTIONS      
Outstanding at beginning of period 97,250    
Options granted 0 0 0
Options exercised (3,785) (285,087) (284,743)
Outstanding at end of period 93,465 97,250  
WEIGHTED-AVERAGE EXERCISE PRICE      
Outstanding at beginning of period $ 1.96    
Options exercised 1.12    
Outstanding at end of period $ 2.00 $ 1.96  
VESTED AND EXPECTED TO VEST      
Outstanding options 93,465    
Weighted-Average Exercise Price $ 2.00    
ADDITIONAL DISCLOSURES      
Weighted-average contractual term outstanding   1 year 3 months 18 days  
Weighted-average contractual term (years) exercisable 3 months 18 days    
2013 Equity Incentive Plan      
OUTSTANDING OPTIONS      
Outstanding at beginning of period 5,753,211    
Options granted 898,100   16,606
Options exercised 0 0  
Options forfeited (995,854)    
Outstanding at end of period 5,655,457 5,753,211  
WEIGHTED-AVERAGE EXERCISE PRICE      
Outstanding at beginning of period $ 8.93    
Options granted 3.70    
Options forfeited 7.89    
Outstanding at end of period $ 8.30 $ 8.93  
VESTED AND EXPECTED TO VEST      
Outstanding options 5,655,457    
Weighted-Average Exercise Price $ 8.30    
Weighted-Average Remaining Contractual Term 6 years    
ADDITIONAL DISCLOSURES      
Outstanding options exercisable at end of period 4,118,394    
Weighted-average exercise price exercisable at end of period $ 9.43    
Weighted-average contractual term outstanding 6 years 6 years 7 months 6 days  
Weighted-average contractual term (years) exercisable 5 years 1 month 6 days