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Share-Based Compensation - Narrative (Details) - USD ($)
3 Months Ended
Jan. 01, 2022
Mar. 31, 2022
Mar. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Percentage of average closing price to be paid by employees   85.00%  
Maximum common stock purchases through advance payroll deductions in a calendar year   $ 25,000  
Share-based compensation   $ 1,100,000 $ 1,190,000
Forfeiture rate   0.50%  
Aggregate intrinsic value of stock options exercised   $ 91,000 453,000
Cash receipts of stock options exercised   $ 37,000 $ 171,000
Stock Options      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Stock option term   10 years  
Stock options vesting percentage   100.00%  
Unrecognized compensation expense related to stock options   $ 0  
Stock Options | Minimum      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Vested period   1 year  
Stock Options | Maximum      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Vested period   2 years  
RSAs      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Vested period   3 years  
Unrecognized compensation expense related to RSAs   $ 7,500,000  
Unrecognized compensation expense expected recognition period   1 year 8 months 4 days  
ESPP      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Grant date fair value $ 28,000    
Unrecognized compensation expense related to stock options   $ 0