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Description of voting power or value of stock for employee participation in offering period.

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

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Aggregate number of common shares reserved for future issuance.

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Amount of paid and unpaid common stock dividends declared with the form of settlement in cash, stock and payment-in-kind (PIK).

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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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Description of service or performance condition required to be met for earning right to award under share-based payment arrangement. Includes, but is not limited to, combination of market, performance or service condition.

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Discount rate from fair value on offering date that participants pay for shares.

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Per share or unit weighted-average fair value of nonvested award under share-based payment arrangement. Excludes share and unit options.

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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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The highest percentage of annual salary that an employee is permitted to utilize with respect to the plan.

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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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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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Maximum number of shares that may be issued in accordance with the plan as a proportion of outstanding capital stock.

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Number of shares issued under share-based payment arrangement.

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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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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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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