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Equity Incentive Plan - Schedule of Additional Information About Stock Options Outstanding (Details) - Equity Incentive Plan - $ / shares | 12 Months Ended
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Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Equity Incentive Plan |  |  |
Options Outstanding (in shares) | 513,948 | 492,886 | 391,650
Weighted Average Remaining Life (in years) | 6 years 7 months 6 days | 7 years 7 months 6 days | 8 years 1 month 6 days
Weighted Average Exercise Price (in dollars per share) | $ 7.59 | $ 7.35 | $ 5.70
Options Exercisable (in shares) | 443,284 | 378,470 |
$1.99 - $2.85 |  |  |
Equity Incentive Plan |  |  |
Options Outstanding (in shares) | 181,557 |  |
Weighted Average Remaining Life (in years) | 5 years 3 months 18 days |  |
Weighted Average Exercise Price (in dollars per share) | $ 2.52 |  |
Options Exercisable (in shares) | 181,557 |  |
$4.25 - $9.31 |  |  |
Equity Incentive Plan |  |  |
Options Outstanding (in shares) | 176,736 |  |
Weighted Average Remaining Life (in years) | 7 years 6 months |  |
Weighted Average Exercise Price (in dollars per share) | $ 7.33 |  |
Options Exercisable (in shares) | 176,736 |  |
$10.41 - $17.25 |  |  |
Equity Incentive Plan |  |  |
Options Outstanding (in shares) | 151,302 |  |
Weighted Average Remaining Life (in years) | 7 years 2 months 12 days |  |
Weighted Average Exercise Price (in dollars per share) | $ 12.82 |  |
Options Exercisable (in shares) | 80,638 |  |
$31.50 - $79.40 |  |  |
Equity Incentive Plan |  |  |
Options Outstanding (in shares) | 4,353 |  |
Weighted Average Remaining Life (in years) | 3 years 7 months 6 days |  |
Weighted Average Exercise Price (in dollars per share) | $ 48.50 |  |
Options Exercisable (in shares) | 4,353 |  |

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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 Number of options outstanding, including both vested and non-vested options. + 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)(ii) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(i) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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