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Share Based Compensation - Additional Information (Details) |  | 12 Months Ended |  |
--- | --- | --- | --- | ---
Jan. 01, 2019 $ / shares shares | Dec. 31, 2021 USD ($) Installment $ / shares shares | Dec. 31, 2020 USD ($) shares | Dec. 31, 2019 shares | Oct. 31, 2020 shares | Feb. 29, 2016 shares
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |
Number of performance-condition options granted |  | 1,190 |  |  |  |
Exercise price | $ / shares |  | $ 17.87 |  |  |  |
Stock compensation expense | $ |  | $ 4,944,000 | $ 3,709,000 |  |  |
Dividends | $ |  | $ 0 | 0 |  |  |
Restricted Stock Units (RSUs) |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |
RSUs outstanding |  | 150,811 |  |  |  |
Weighted average grant date fair value | $ / shares |  | $ 5.30 |  |  |  |
Bonus-To-Options Program |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |
Number of performance-condition options granted |  | 266,000 |  |  |  |
Exercise price | $ / shares |  | $ 20.67 |  |  |  |
Stock compensation expense | $ |  | $ 800,000 | $ 3,400,000 |  |  |
Options and Restricted Stock Units |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |
Unrecognized remaining stock based compensation balance | $ |  | $ 7,800,000 |  |  |  |
Amortization period |  | 3 years 9 months 18 days |  |  |  |
Service Condition R S Us |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |
Number of RSUs granted |  | 71,707 |  |  |  |
Maximum | Bonus-To-Options Program |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |
Option expiration period |  | 10 years |  |  |  |
2020 Equity Incentive Plan |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |
Number of shares reserved for issuance |  | 1,893,395 |  |  |  |
2020 Equity Incentive Plan | Performance Condition Options |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |
Option expiration period | 10 years |  |  |  |  |
Vesting term |  | Performance-based options vest in three equal annual installments beginning one year after the grant date |  |  |  |
Number of equal annual installments for award vesting | Installment |  | 3 |  |  |  |
Number of performance-condition options granted | 168,466 |  |  |  |  |
Exercise price | $ / shares | $ 0.77 |  |  |  |  |
Options vested |  | 56,156 | 56,155 |  |  |
Options forfeited |  |  |  | 56,155 |  |
2020 Equity Incentive Plan | Maximum |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |
Option expiration period |  | 10 years |  |  |  |
2020 Equity Incentive Plan | Common Stock |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |
Percentage of number of shares of common stock issued and outstanding |  | 4.00% |  |  |  |
2020 Equity Incentive Plan | Common Stock | Maximum |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |
Number of common stock may be issued under incentive plan |  | 1,893,395 |  |  |  |
2006 Plan |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |
Additional stock awards granted |  |  |  |  |  | 0
2016 Plan |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |
Additional stock awards granted |  |  |  |  |  | 0
2006 Plan, 2016 Plan and 2020 Equity Incentive Plan |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |
Additional stock awards granted |  | 630,685 |  |  |  |
Employee Stock Purchase Plan |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |
Number of shares reserved for issuance |  | 295,251 |  |  | 338,106 |
Percentage of number of shares of common stock issued and outstanding |  | 1.00% |  |  |  |
Percentage of earnings used for purchase of common stock |  | 15.00% |  |  |  |
Percentage of fair market value of common stock for purchase under plan |  | 85.00% |  |  |  |
Description of voting power or value of stock for employee participation in offering period |  | No employee may participate in an offering period if the employee owns 5% or more of the total combined voting power or value of the Company’s stock. |  |  |  |
Description of offering period under plan |  | The initial offering period was from January 1, 2021 through August 31, 2021. On a go-forward basis, the ESPP provides for successive six-month offering periods beginning on September 1st and March 1st of each year. As of December 31, 2021, 42,855 shares have been issued under the ESPP leaving 295,251 shares remaining for future issuance. |  |  |  |
Number of common stock may be issued under incentive plan |  | 42,855 |  |  |  |

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