CONSOLIDATED BALANCE SHEETS (Parenthetical) - $ / shares	Dec. 31, 2022	Dec. 31, 2021
Statement of Financial Position [Abstract]
Preferred stock, par value (in dollars per share)	$ 0.01	$ 0.01
Preferred stock, shares authorized (in shares)	10,000,000	10,000,000
Preferred stock, shares issued (in shares)	0	0
Common stock, par value (in dollars per share)	$ 0.001	$ 0.001
Common stock, shares authorized (in share)	50,000,000	50,000,000
Common stock, shares, issued (in shares)	20,156,233	19,588,003
Common stock, shares, outstanding (in shares)	18,780,013	18,205,636
Treasury stock, shares (in share)	1,376,220	1,382,367