Stockholders' Equity - Schedule of Options Outstanding (Details) - $ / shares	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]
Options, exercised		(182,722)
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Exercise Price [Roll Forward]
Weighted average exercise price, expired	$ 5.36
Equity Incentive 2011 Plan [Member]
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward]
Options outstanding, beginning of period	1,795,663	1,712,806
Options, granted	125	296,569
Options, exercised	(71,086)	(182,722)
Options, expired	(37,463)
Options, forfeited	(22,075)	(30,990)
Options outstanding, end of period	1,665,164	1,795,663	1,712,806
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Exercise Price [Roll Forward]
Weighted average exercise price, beginning of period	$ 2.79	$ 2.56
Weighted average exercise price, granted	1.15	2.60
Weighted average exercise price, exercised	0.25	3.26
Weighted average exercise price, forfeited	3.29	0.32
Weighted average exercise price, end of period	$ 2.83	$ 2.79	$ 2.56
Weighted average remaining life (years), outstanding	5 years 3 months 7 days	6 years 4 months 24 days	6 years 10 months 24 days
Common shares expected to vest	1,375,569
Common shares expected to vest weighted average	$ 3.06
Weighted average remaining useful life exercisable	4 years 8 months 12 days

Number of options or other stock instruments for which the right to exercise has lapsed under the terms of the plan agreements.

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Weighted average price of options that were either forfeited or expired.

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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.

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Gross number of share options (or share units) granted during the period.

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

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-Publisher FASB
-Name Accounting Standards Codification
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A roll forward is a reconciliation of a concept from the beginning of a period to the end of a period.

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

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Number of fully vested and expected to vest exercisable options that may be converted into shares under option plan. Includes, but is not limited to, unvested options for which requisite service period has not been rendered but that are expected to vest based on achievement of performance condition, if forfeitures are recognized when they occur.

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Weighted-average exercise price, at which grantee can acquire shares reserved for issuance, for fully vested and expected to vest exercisable or convertible options. Includes, but is not limited to, unvested options for which requisite service period has not been rendered but that are expected to vest based on achievement of performance condition, if forfeitures are recognized when they occur.

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Weighted average price at which option holders acquired shares when converting their stock options into shares.

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Weighted average price at which grantees could have acquired the underlying shares with respect to stock options that were terminated.

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Weighted average per share amount at which grantees can acquire shares of common stock by exercise of options.

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Weighted average remaining contractual term for option awards outstanding, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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Weighted average remaining contractual term for fully vested and expected to vest exercisable or convertible options, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days. Includes, but is not limited to, unvested options for which requisite service period has not been rendered but that are expected to vest based on achievement of performance condition, if forfeitures are recognized when they occur.

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Number of share options (or share units) exercised during the current period.

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