Weighted-average period over which cost not yet recognized is expected to be recognized for award under share-based payment arrangement, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days.

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Stock-Based Compensation - Narrative (Details) - USD ($) $ / shares in Units, $ in Thousands					12 Months Ended
	Jan. 01, 2022	May 24, 2021	Jan. 01, 2021	Jan. 01, 2019	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2018
Stock-based compensation
Increase in shares available for issuance, percent				5.00%
Stock-based compensation					$ 1,903	$ 1,675
Fair value of vested shares withheld for minimum tax withholding					$ 37	$ 103
2018 Stock Plan
Stock-based compensation
Shares reserved for issuance								32,500
Additional shares authorized	247,210	300,000	244,092
Options and restricted stock awards issued (in shares)					1,059,719
Options and restricted stock awards outstanding (in shares)					990,243
Stock options
Stock-based compensation
Unvested and outstanding options (in shares)					979,748	722,765	339,108
Expiration period					10 years
Weighted average grant date fair value of options granted (in dollars per share)					$ 3.31	$ 8.99
Exercise of common stock options (in shares)					0	0
Weighted average remaining contractual term for options outstanding					8 years 1 month 24 days	8 years 9 months 14 days	9 years 7 days
Stock options \| Employee and Director
Stock-based compensation
Stock-based compensation expense, net of estimated forfeitures, related to unvested awards not yet recognized					$ 3,189
Weighted average period over which unrecognized compensation expense is expected to be recognized					2 years 5 months 1 day
Stock options \| Minimum
Stock-based compensation
Vesting period for options granted					1 year
Stock options \| Maximum
Stock-based compensation
Vesting period for options granted					4 years
Stock options \| 2006 Plan
Stock-based compensation
Options awarded to date (in shares)					3,662
Unvested and outstanding options (in shares)					159
Stock options \| 2014 Plan
Stock-based compensation
Options awarded to date (in shares)					16,896
Unvested and outstanding options (in shares)					15,990
Restricted stock awards \| 2014 Plan
Stock-based compensation
Options awarded to date (in shares)					3,619
Restricted Stock Units (RSUs)
Stock-based compensation
Fair value of vested shares withheld for minimum tax withholding					$ 37	$ 102