Number of stock compensation plans.

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- Definition

Amount of expense for award under share-based payment arrangement. Excludes amount capitalized.

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- Definition

Aggregate number of common shares reserved for future issuance.

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Amount of cost not yet recognized for nonvested award under share-based payment arrangement.

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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.

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- Definition

Line items represent financial concepts included in a table. These concepts are used to disclose reportable information associated with domain members defined in one or many axes to the table.

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No definition available.

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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.

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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.

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- Definition

Number of options outstanding, including both vested and non-vested options.

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Reference 1: http://www.xbrl.org/2003/role/disclosureRef
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- Definition

Weighted average price at which grantees can acquire the shares reserved for issuance under the stock option plan.

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- Definition

Period from grant date that an equity-based award expires, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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Stock-Based Compensation - Additional Information (Details)	12 Months Ended
	Dec. 31, 2022 USD ($) Plan $ / shares shares	Dec. 31, 2021 USD ($) $ / shares shares	Dec. 31, 2020 $ / shares shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Number of stock compensation plans \| Plan	3
Number of options outstanding	5,218,033	4,213,977	3,621,479
Range of exercise prices \| $ / shares	$ 8.69	$ 10.33	$ 10.63
Aggregate intrinsic value of options exercised \| $	$ 0
Unrecognized stock-based compensation expense \| $	$ 10,500,000
Unrecognized stock-based compensation expense, recognized over estimated weighted average period	2 years 6 months
Stock-based compensation expense \| $	$ 8,153,000	$ 7,904,000
Minimum [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Range of exercise prices \| $ / shares	$ 2.45
Maximum [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Range of exercise prices \| $ / shares		$ 2,147
2020 Stock Incentive Plan [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Common stock, number of shares reserved for issuance	4,860,000
Number of options outstanding	1,733,392
Options granted, expiration period	10 years
Stock awards available for grant	3,126,608
2014 Stock Incentive Plan [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Common stock, number of shares reserved for issuance	0
Number of options outstanding	72,519
Options granted, expiration period	10 years
2007 Stock Incentive Plan [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Number of options outstanding	1,151
Options granted, expiration period	10 years