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Stock-Based Compensation - Additional Information (Details) - USD ($) |  |  | 12 Months Ended
--- | --- | --- | ---
May 20, 2021 | Oct. 07, 2016 | Dec. 31, 2022 | Dec. 31, 2021
Share-based Compensation |  |  |  |
Total grant date fair value of options vested |  |  | $ 1,300,000 | $ 900,000
Weighted-average grant date fair value of options granted |  |  | $ 5.40 | $ 3.60
Shares available for future issuance (in shares) |  |  | 689,472 | 1,038,956
Number of shares reserved and available for future issuance |  |  | 3,261,836 |
Value of share issued |  |  | $ 889,000 | $ 2,256,000
Number of stock options granted (in shares) |  |  | 489,244 |
Options remained outstanding |  |  | 1,994,726 | 1,783,298
Stock options |  |  |  |
Share-based Compensation |  |  |  |
Unrecognized stock-based compensation expense |  |  | $ 3,800,000 |
Unrecognized compensation expense, weighted-average period expected to be recognized |  |  | 2 years 4 months 24 days |
2016 Employee Incentive Plan |  |  |  |
Share-based Compensation |  |  |  |
Maximum number of common stock shares may be issued under the plan |  | 500,000 |  |
Annual increases in the number of shares available for issuance, percentage of outstanding capital stock |  | 3.00% |  |
Increase in number of shares reserved for issuance (in shares) | 550,000 |  |  |
Shares available for future issuance (in shares) |  |  | 689,472 |
2008 Equity Incentive Plan |  |  |  |
Share-based Compensation |  |  |  |
Number of stock options granted (in shares) |  |  | 0 |
Options remained outstanding |  |  | 51,695 |
ESPP |  |  |  |
Share-based Compensation |  |  |  |
Shares available for future issuance (in shares) |  |  | 774,137 |
Number of shares issued (in shares) |  |  | 77,221 | 64,407
Value of share issued |  |  | $ 342,000 | $ 236,000

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- Definition Weighted-average period over which cost not yet recognized is expected to be recognized for award under share-based payment arrangement, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days. + 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 (i) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition Amount of cost to be recognized for nonvested award under share-based payment arrangement. Excludes share and unit options. + References Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (i) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition Number of shares authorized for issuance under share-based payment arrangement. + References Reference 1: http://www.xbrl.org/2003/role/exampleRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (a)(3) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition The difference between the maximum number of shares (or other type of equity) authorized for issuance under the plan (including the effects of amendments and adjustments), and the sum of: 1) the number of shares (or other type of equity) already issued upon exercise of options or other equity-based awards under the plan; and 2) shares (or other type of equity) reserved for issuance on granting of outstanding awards, net of cancellations and forfeitures, if applicable. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition Gross number of share options (or share units) granted during the period. + 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 (c)(1)(iv)(01) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition The weighted average grant-date fair value of options granted during the reporting period as calculated by applying the disclosed option pricing methodology. + 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 (d)(1) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition Number of options outstanding, including both vested and non-vested options. + 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 (c)(1)(ii) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(i) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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