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Stock-Based Compensation - Narrative (Details) - USD ($)
3 Months Ended 9 Months Ended
Sep. 30, 2022
Sep. 30, 2021
Sep. 30, 2022
Sep. 30, 2021
Dec. 31, 2020
Share-Based Payment Arrangement          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Grants in period (in shares)     14,635 13,420  
Recognized stock-based compensation expense $ 400,000 $ 400,000 $ 500,000 $ 500,000  
Restricted Stock Units          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Grants in period (in shares)     136,111    
Recognized stock-based compensation expense 1,500,000 1,200,000 $ 4,300,000 $ 3,300,000  
Unrecognized compensation expense related to unvested options 6,300,000   $ 6,300,000    
Weighted average remaining recognition period of unrecognized stock-based compensation costs     1 year 8 months 12 days    
Restricted Stock Units | Executive Officer          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Grants in period (in shares)     1,057 160,843  
Vesting period     1 year 2 years  
Restricted Stock Units | Employees          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Grants in period (in shares)     135,054 152,659  
Vesting period     3 years 3 years  
Performance Shares          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Grants in period (in shares)     132,304    
Recognized stock-based compensation expense $ 700,000 $ 300,000 $ 1,900,000 $ 700,000  
Weighted average remaining recognition period of unrecognized stock-based compensation costs     2 years    
Maximum number of shares of common stock available for awards (in shares) 264,608 99,952 264,608 99,952  
Maximum number of payout shares of common stock available for awards (in shares) 157,445 99,952 157,445 99,952  
Unrecognized stock-based compensation expenses $ 5,400,000   $ 5,400,000    
Performance Shares | Maximum          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Unrecognized compensation expense related to unvested options         $ 6,300,000
Share-based payment arrangement, additional future stock-based compensation expense 3,300,000   $ 3,300,000    
Performance Shares | Executive Officer          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Grants in period (in shares)     132,304 50,868  
Share-based compensation arrangement by share based payment award performance period     3 years 3 years  
2020 Performance Share Units          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Recognized stock-based compensation expense $ 0   $ 0