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Stock Based Compensation - Additional Information (Details) - USD ($)		12 Months Ended
		Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2019
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Proceeds from exercise of stock options		$ 21,000	$ 2,500,000
Intrinsic value of stock options exercised		59,000
Stock-based compensation		$ 4,978,000	$ 4,049,000
Common stock, reserved for future issuance		3,825,000	2,739,000
Weighted average grant-date fair value of options granted		$ 4.58	$ 9.86
Stock options expected to vest aggregate intrinsic value		$ 758,000
Grant date fair value of shares vested		3,400,000	$ 1,900,000
Share-based compensation expense -Share-Settled Obligation		$ 900,000
Employee Stock
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Offering period of employee stock purchase plan		6 months
Limited percentage of annual contribution		20.00%
Percentage of discount and fair value of option		15.00%
Proceeds from stock issued during period		$ 400,000	$ 300,000
Number of stock issued during period		47,852	27,300
Restricted Stock Units
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Total unrecognized compensation cost		$ 3,800,000
Total unrecognized compensation cost, period for recognition		2 years 9 months 18 days
Restricted stock units, Grants		294,000
Restricted stock units, Vested		89,000
Weighted average grant date fair value, Grants		$ 8.14
Restricted stock units, vesting period description		fully vest on the one year anniversary of the grant date. Employees were granted 274,837	vest equally after each of the annual anniversaries over a four-year period.
Restricted Stock Units | Employees
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Restricted stock units, Vested		274,837	247,200
Weighted average grant date fair value, Grants		$ 8.05	$ 20.56
Restricted stock units, vesting period			4 years
Employee Stock Option
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Total unrecognized compensation cost		$ 3,700,000	$ 5,500,000
Total unrecognized compensation cost, period for recognition		2 years 6 months
Performance Stock Units
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Total unrecognized compensation cost		$ 300,000
Restricted stock units, Grants		137,000
Restricted stock units, Vested		0
Weighted average grant date fair value, Grants		$ 2.09
Description of performance stock unit		Service as well as market and performance conditions determine the number of PSUs that the holder will earn from 0% to 150% of the target number of shares. The percentage received is based on the Company common stock price targets over a three-year service period. Additionally, the Company must achieve or exceed 75% of the year to date revenue target measured at the end of the quarter in which the price target is achieved. The market conditions have not currently been met.
Weighted average remaining contractual term		2 years 3 months 18 days
Non-Employee Board of Directors
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of stock option value awarded per year -Chairperson				$ 30,000
Non-Employee Board of Directors | Restricted Stock Units
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of restricted stock units value awarded per year -Chairperson		$ 30,000
Board of Directors
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of stock option value awarded per year -Chairperson				$ 45,000
Board of Directors | Restricted Stock Units
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of restricted stock units value awarded per year -Chairperson		$ 45,000
Restricted stock units, Grants		19,098	10,500
Weighted average grant date fair value, Grants		$ 9.46	$ 22.51
Minimum [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Service period for stock options granted to employees		1 year
Minimum [Member] | Restricted Stock Units | Employees
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Restricted stock units, vesting period description		vest equally after each of the annual anniversaries over a three to four year period.
Restricted stock units, vesting period		3 years
Maximum [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Service period for stock options granted to employees		4 years
Maximum [Member] | Employee Stock
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Purchase price percentage of market value of common stock		85.00%
Maximum [Member] | Restricted Stock Units | Employees
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Restricted stock units, vesting period		4 years
Authorized for Grants under the 2016 Equity Incentive Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock, reserved for future issuance	[1]	507,000	332,000
[1] On January 1, 2022, the number of authorized shares in the 2016 Plan increased by 404,000 shares pursuant to the evergreen provisions of the 2016 Equity Incentive Plan.

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