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Stock-Based Compensation - Summary of Options and Awards Activity (Details) - USD ($) $ / shares in Units, $ in Thousands | 12 Months Ended
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Dec. 31, 2022 | Dec. 31, 2021
Stock-based compensation |  |
Options and Awards Available for Grant, Outstanding, Beginning balance | 1,038,956 |
Options and Awards Available for Grant, Options authorized | 595,753 |
Options and Awards Available for Grant, RSUs granted | (620,218) |
Options Available for Grant, RSUs cancelled/forfeited | 25,312 |
Options and Awards Available for Grant, Options granted | (489,244) |
Options and Awards Available for Grant, Options cancelled/forfeited | 138,913 |
Options and Awards Available for Grant, Outstanding, Ending balance | 689,472 | 1,038,956
Number of Options, Outstanding, Beginning balance | 1,783,298 |
Number of Options, Options granted | 489,244 |
Number of Options, Options exercised | (116,040) |
Number of Options, Options cancelled/forfeited | (161,776) |
Number of Options, Outstanding, Ending balance | 1,994,726 | 1,783,298
Number of Options, exercisable | 919,508 |
Weighted - Average Exercise Price Per Share, Options outstanding, Beginning balance | $ 5.21 |
Weighted - Average Exercise Price Per Share, Options granted | 8.17 |
Weighted - Average Exercise Price Per Share, Options exercised | 4.71 |
Weighted - Average Exercise Price Per Share, Options cancelled/forfeited | 6.18 |
Weighted - Average Exercise Price Per Share, Options outstanding, Ending balance | 5.88 | $ 5.21
Weighted - Average Exercise Price Per Share, Options exercisable | $ 5.38 |
Weighted - Average Remaining Contractual Life, Options outstanding | 7 years 9 months 18 days | 8 years
Weighted - Average Remaining Contractual Life, Options exercisable | 6 years 10 months 24 days |
Aggregate Intrinsic Value, Options outstanding | $ 1,275 | $ 10,891
Aggregate Intrinsic Value, Options exercised | 333 |
Aggregate Intrinsic Value, Options exercisable | $ 809 |

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- Definition Share based compensation arrangement by share based payment award number of shares available for grant cancelled or forfeited in period other than options. + References No definition available. + Details
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- Definition Share based compensation arrangement by share based payment award number of shares available for grant utilized for another share based award. + References No definition available. + Details
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- Definition Number of additional shares authorized for issuance under share-based payment arrangement. + References No definition available. + 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 The number of shares into which fully or partially vested stock options outstanding as of the balance sheet date can be currently converted under the option plan. + 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)(iii) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition The weighted-average price as of the balance sheet date at which grantees can acquire the shares reserved for issuance on vested portions of options outstanding and currently exercisable under the stock option plan. + 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)(iii) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition Amount of accumulated difference between fair value of underlying shares on dates of exercise and exercise price on options exercised (or share units converted) into shares. + 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)(2) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition The number of shares under options that were cancelled during the reporting period as a result of occurrence of a terminating event specified in contractual agreements pertaining to the stock option plan. + 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)(03) -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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- Definition Weighted average price at which grantees can acquire the shares reserved for issuance under the stock option plan. + 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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- Definition Weighted average price at which grantees could have acquired the underlying shares with respect to stock options that were terminated. + 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)(03) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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