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Equity Incentive Plan - Summary of Stock Option Activity and Related Information (Details) - Equity Incentive Plan - $ / shares | 12 Months Ended
--- | ---
Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Stock Options |  |  |
Outstanding at January 1 | 492,886 | 391,650 |
Number of stock options granted | 61,062 | 131,821 |
Exercised (in shares) | (3,750) | (27,934) |
Forfeited / Expired | (36,250) | (2,651) |
Outstanding at December 31, 2022 | 513,948 | 492,886 | 391,650
Exercisable at December 31, 2022 | 443,284 | 378,470 |
Weighted Average Exercise Price |  |  |
Outstanding at January 1 (in dollars per share) | $ 7.35 | $ 5.70 |
Granted | 11.09 | 11.42 |
Exercised (in dollars per share) | 5.36 | 3.27 |
Forfeited/Expired (in dollars per share) | 10.45 | 8.04 |
Outstanding at December 31, 2022 (in dollars per share) | 7.59 | 7.35 | $ 5.70
Exercisable at December 31, 2022 (in dollars per share) | $ 6.78 | $ 6.17 |
Weighted Average Remaining Life (in years) |  |  |
Outstanding at December 31, 2022 | 6 years 7 months 6 days | 7 years 7 months 6 days | 8 years 1 month 6 days
Exercisable at December 31, 2022 | 6 years 2 months 12 days | 7 years 1 month 6 days |

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- Definition The number of shares into which fully or partially vested stock options outstanding as of the balance sheet date can be currently converted under the option plan. + 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 (c)(1)(iii) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition For presentations that combine terminations, 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 or that expired. + References Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iv) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition Weighted average price of options that were either forfeited or expired. + References Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iv) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition Gross number of share options (or share units) granted during the period. + 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 (c)(1)(iv)(01) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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