Equity and Stock Compensation Plans - Employee Stock Purchase Plan (Details) - USD ($)	1 Months Ended	12 Months Ended
	May 31, 2021	Dec. 31, 2022	Dec. 31, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Total stock-based compensation expense		$ 1,707,000	$ 1,567,000
2021 ESPP Plan [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Percentage of common stock at a price lower of the fair market value	85.00%
Period of common stock offering	6 months
Total stock-based compensation expense		100,000	$ 100,000
Annual purchase limit		$ 25,000
Total number of common stock shares reserved for issuance		1,000,000
Number of common stock shares reserved for issuance		870,435
Issuance of common stock under employee stock purchase plan (in shares)		75,066	4,499
1996 ESPP Plan [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Issuance of common stock under employee stock purchase plan (in shares)		0	6,972