Stock-Based Compensation - Outstanding Options and Exercisable Options Information by Range of Exercise Prices (Details)	12 Months Ended
	Dec. 31, 2022 $ / shares shares
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Options outstanding, number of shares (in shares) | shares	1,903,341
Options outstanding, average remaining contractual life (years)	3 years 10 months 28 days
Options outstanding, weighted-average exercise price (in dollars per share)	$ 8.82
Options vested and exercisable, number of shares (in shares) | shares	1,892,990
Options vested and exercisable, weighted-average exercise price (in dollars per share)	$ 8.75
$3.24-$3.69
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Exercise price, lower limit (in dollars per share)	3.24
Exercise price, upper limit (in dollars per share)	$ 3.69
Options outstanding, number of shares (in shares) | shares	378,748
Options outstanding, average remaining contractual life (years)	1 year 6 months 7 days
Options outstanding, weighted-average exercise price (in dollars per share)	$ 3.40
Options vested and exercisable, number of shares (in shares) | shares	378,748
Options vested and exercisable, weighted-average exercise price (in dollars per share)	$ 3.40
$3.70-$4.41
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Exercise price, lower limit (in dollars per share)	3.70
Exercise price, upper limit (in dollars per share)	$ 4.41
Options outstanding, number of shares (in shares) | shares	490,008
Options outstanding, average remaining contractual life (years)	2 years 11 months 26 days
Options outstanding, weighted-average exercise price (in dollars per share)	$ 4.30
Options vested and exercisable, number of shares (in shares) | shares	490,008
Options vested and exercisable, weighted-average exercise price (in dollars per share)	$ 4.30
$4.42-$5.31
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Exercise price, lower limit (in dollars per share)	4.42
Exercise price, upper limit (in dollars per share)	$ 5.31
Options outstanding, number of shares (in shares) | shares	407,247
Options outstanding, average remaining contractual life (years)	4 years 4 months 2 days
Options outstanding, weighted-average exercise price (in dollars per share)	$ 4.67
Options vested and exercisable, number of shares (in shares) | shares	407,180
Options vested and exercisable, weighted-average exercise price (in dollars per share)	$ 4.67
$5.32-$20.51
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Exercise price, lower limit (in dollars per share)	5.32
Exercise price, upper limit (in dollars per share)	$ 20.51
Options outstanding, number of shares (in shares) | shares	233,794
Options outstanding, average remaining contractual life (years)	5 years 5 months 12 days
Options outstanding, weighted-average exercise price (in dollars per share)	$ 12.06
Options vested and exercisable, number of shares (in shares) | shares	232,013
Options vested and exercisable, weighted-average exercise price (in dollars per share)	$ 12.01
$20.52-$22.00
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Exercise price, lower limit (in dollars per share)	20.52
Exercise price, upper limit (in dollars per share)	$ 22.00
Options outstanding, number of shares (in shares) | shares	393,544
Options outstanding, average remaining contractual life (years)	6 years 14 days
Options outstanding, weighted-average exercise price (in dollars per share)	$ 22.00
Options vested and exercisable, number of shares (in shares) | shares	385,041
Options vested and exercisable, weighted-average exercise price (in dollars per share)	$ 22.00