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Stock-Based Compensation - Options outstanding (Details) - Employee stock options
12 Months Ended
Dec. 31, 2022
$ / shares
shares
Stock-Based Compensation  
Number of Options, Outstanding | shares 368,666
Weighted Average Remaining Contractual Term, Outstanding (in years) 3 years 2 months 19 days
Weighted Average Exercise Price, Outstanding (per share) $ 2.90
Number of Options, Exercisable | shares 77,331
Weighted Average Exercise Price, Exercisable (per share) $ 3.24
$1.00 - $5.48  
Stock-Based Compensation  
Range of Exercise Prices, Lower limit 1.00
Range of Exercise Prices, Upper limit $ 5.48
Number of Options, Outstanding | shares 338,666
Weighted Average Remaining Contractual Term, Outstanding (in years) 3 years 1 month 17 days
Weighted Average Exercise Price, Outstanding (per share) $ 2.53
Number of Options, Exercisable | shares 77,331
Weighted Average Exercise Price, Exercisable (per share) $ 3.24
$5.48 - $7.06  
Stock-Based Compensation  
Range of Exercise Prices, Lower limit 5.48
Range of Exercise Prices, Upper limit $ 7.06
Number of Options, Outstanding | shares 30,000
Weighted Average Remaining Contractual Term, Outstanding (in years) 4 years 2 months 12 days
Weighted Average Exercise Price, Outstanding (per share) $ 7.06