Stock-Based Compensation - Analysis of Stock Options Award Activity (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
Dec. 31, 2021
Shares
Outstanding at beginning of period (in shares)	893,256
Granted (in shares)	62,142
Exercised (in shares)	(16,065)
Cancelled/Forfeited (in shares)	(72,918)
Expired (in shares)	(3,727)
Outstanding at end of period (in shares)	862,688
Exercisable at end of period (in shares)	717,211
Weighted-Average Exercise Price
Outstanding at beginning of period (in dollars per share)	$ 37.16
Granted (in dollars per share)	29.43
Exercised (in dollars per share)	22.54
Cancelled/Forfeited (in dollars per share)	40.06
Expired (in dollars per share)	20.44
Outstanding at end of period (in dollars per share)	36.71
Exercisable at end of period (in dollars per share)	$ 36.14
Outstanding, weighted-average remaining life	4 years 5 months 15 days
Exercisable, weighted-average remaining life	3 years 8 months 15 days
Outstanding, aggregate intrinsic value	$ 34
Exercisable, aggregate intrinsic value	$ 34

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.

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- Definition

The weighted-average price as of the balance sheet date at which grantees can acquire the shares reserved for issuance on vested portions of options outstanding and currently exercisable under the stock option plan.