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Accounting for Stock-Based Compensation - Schedule of Share-based Compensation, Stock Options, Activity (Details) - Employee Stock Option - $ / shares
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Beginning Balance, Shares 2,301,753 1,817,525 1,110,134
Granted, Shares 760,000 749,250 946,500
Exercised, Shares (56,500) (65,499) (18,166)
Forfeited and cancelled, Shares (173,502) (199,523) (220,943)
Ending Balance, Shares 2,831,751 2,301,753 1,817,525
Exercisable, Shares 1,298,412    
Beginning of Period, Weighted Average Exercise Price $ 6.77 $ 8.77 $ 16.90
Granted, Weighted Average Exercise Price 10.18 8.81 4.93
Exercised, Weighted Average Exercise Price 4.97 5.03 4.99
Forfeited and Cancelled, Weighted Average Exercise Price 13.41 33.14 33.52
End of Period, Weighted Average Exercise Price 7.32 $ 6.77 $ 8.77
Exercisable, Weighted Average Exercise Price $ 5.64    
Weighted Average Remaining Contractual Term 7 years 9 months 18 days    
Exercisable, Weighted Average Remaining Contractual Term 7 years