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Stockholders' Equity - Additional Information (Details)
$ / shares in Units, $ in Millions
1 Months Ended 12 Months Ended
Apr. 07, 2020
shares
Apr. 30, 2016
shares
Dec. 31, 2022
USD ($)
installment
shares
Dec. 31, 2021
USD ($)
$ / shares
shares
Dec. 31, 2020
shares
Deferred Compensation Arrangement with Individual, Share-based Payments [Line Items]          
Stock based compensation expense | $     $ 4.2 $ 3.0  
Stock options          
Deferred Compensation Arrangement with Individual, Share-based Payments [Line Items]          
Vesting period     4 years    
Weighted average grant date fair value of options granted (in dollars per share) | $ / shares       $ 11.30  
Options outstanding, remaining contractual term       7 years  
Weighted average remaining service period related to compensation recognition     7 months 6 days    
Unamortized stock option expense to be recognized | $     $ 0.2    
Restricted stock units          
Deferred Compensation Arrangement with Individual, Share-based Payments [Line Items]          
Share-based compensation vesting installments | installment     3    
Shares issued (in shares)     816,740    
Share-based compensation, vested (in shares)     113,921    
Share-based compensation, percentage     100.00%    
Restricted stock units | Employees          
Deferred Compensation Arrangement with Individual, Share-based Payments [Line Items]          
Shares issued (in shares)     930,661    
Restricted stock units | Employees          
Deferred Compensation Arrangement with Individual, Share-based Payments [Line Items]          
Shares vested (in shares)     169,576    
Restricted stock units | Member of Board of Directors          
Deferred Compensation Arrangement with Individual, Share-based Payments [Line Items]          
Vesting period     1 year    
Shares issued (in shares)     11,819 3,384  
Shares vested (in shares)     3,384 10,652  
Restricted stock units | Employees          
Deferred Compensation Arrangement with Individual, Share-based Payments [Line Items]          
Share-based compensation vesting installments | installment     3    
Shares vested (in shares)     52,174    
Restricted Stock and Restricted Stock Units          
Deferred Compensation Arrangement with Individual, Share-based Payments [Line Items]          
Weighted average remaining service period related to compensation recognition     2 years 1 month 6 days    
Shares issued (in shares)     930,661 281,384  
Share-based compensation, vested (in shares)     1,062,923 468,984 429,467
Shares vested (in shares)     225,134 234,367  
Unamortized restricted stock and restricted stock units expense to be recognized | $     $ 5.1    
Employee Stock          
Deferred Compensation Arrangement with Individual, Share-based Payments [Line Items]          
Shares authorized (in shares) 1,200,000        
Withholding period 6 months        
2016 Equity Incentive Plan          
Deferred Compensation Arrangement with Individual, Share-based Payments [Line Items]          
Shares available for future grant (in shares)   3,500,000      
Stock option contractual term   10 years      
2020 Employee Stock Purchase Plan | Stock options          
Deferred Compensation Arrangement with Individual, Share-based Payments [Line Items]          
Share-based compensation expense | $     $ 0.3 $ 0.4  
Deferred Compensation Plan | Restricted stock units          
Deferred Compensation Arrangement with Individual, Share-based Payments [Line Items]          
Vesting period     1 year    
Employee Director Compensation Plan | Restricted stock units          
Deferred Compensation Arrangement with Individual, Share-based Payments [Line Items]          
Share-based compensation, vested (in shares)     68,476