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Stock-Based Compensation - Summary of Stock Option Activity under Incentive Plan (Details) - USD ($)
$ / shares in Units, $ in Thousands
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward]      
Outstanding, Beginning Balance (in shares) 2,454,700 4,173,168  
Granted (in shares) 320,816 600,000  
Exercised (in shares) (355,000) (253,335)  
Expired (in shares) (945,200) (2,035,966)  
Forfeited (in shares)   (29,167)  
Outstanding, Ending Balance (in shares) 1,475,316 2,454,700 4,173,168
Vested and exercisable (in shares) 894,769    
Weighted Average Exercise Price      
Outstanding Weighted Average Exercise Price, Beginning Balance $ 4.62 $ 6.83  
Weighted Average Exercise Price, Granted 2.41 3.22  
Weighted average exercise price 1.31 1.31 $ 1.31
Weighted Average Exercise Price, Expired 7.78 9.14  
Weighted Average Exercise Price, Forfeited   5.89  
Outstanding Weighted Average Exercise Price, Ending Balance 2.90 $ 4.62 $ 6.83
Weighted Average Exercise Price, Vested and exercisable as of end of period $ 2.85    
Weighted -Average Remaining contractual Term (in years)      
Weighted Average Remaining Contractual Term (in years), Outstanding as Beginning of period 7 years 4 months 17 days 4 years 6 months 29 days 3 years 6 months 29 days
Weighted Average Remaining Contractual Term (in years), Outstanding as of end of period 7 years 4 months 17 days 4 years 6 months 29 days 3 years 6 months 29 days
Weighted Average Remaining Contractual Term (in years), Vested and exercisable as of end of period 6 years 8 months 12 days    
Additional disclosures      
Aggregate Intrinsic Value, Outstanding as of beginning of period $ 109 $ 1,324  
Aggregate Intrinsic Value, Outstanding as of end of period 18 $ 109 $ 1,324
Aggregate Intrinsic Value, Vested and exercisable as of end of period $ 18