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Share Based Compensation - Additional Information (Details) - USD ($) | 12 Months Ended |  |
--- | --- | --- | ---
Dec. 31, 2022 | Dec. 31, 2021 | Oct. 31, 2020 | Feb. 29, 2016
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Number of outstanding stock options granted | 2,541,000 | 2,878,000 |  |
Number of performance-condition options granted | 380,000 |  |  |
Exercise price | $ 2.92 |  |  |
Stock compensation expense | $ 5,961,000 | $ 4,944,000 |  |
Dividends | $ 0 | $ 0 |  |
Restricted Stock Units (RSUs) |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Weighted average grant date fair value | $ 2.36 |  |  |
Bonus-To-Options Program |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Number of outstanding stock options granted | 526,000 | 373,000 |  |
Number of performance-condition options granted | 244,000 |  |  |
Exercise price | $ 2.29 |  |  |
Stock compensation expense | $ 1,100,000 | $ 800,000 |  |
Options and Restricted Stock Units |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Unrecognized remaining stock based compensation balance | $ 7,100,000 |  |  |
Amortization period | 2 years 9 months 18 days |  |  |
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] |  |  |  |
Vesting term | Performance-based options vest in three equal annual installments beginning one year after the grant date |  |  |
Number of outstanding stock options granted | 0 |  |  |
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% |  |  |
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 | 233,519 |  |  |
Employee Stock Purchase Plan |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Number of shares reserved for issuance | 100,145 |  | 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, 2022, 237,961 shares have been issued under the ESPP leaving 100,145 shares remaining for future issuance. |  |  |
Number of common stock may be issued under incentive plan | 237,961 |  |  |

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- Definition Amount of expense for award under share-based payment arrangement. Excludes amount capitalized. + 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 (h)(1)(i) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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