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Stock-Based Compensation and Stock Awards - Stock Options - Additional Information (Details)
12 Months Ended
May 12, 2021
shares
May 13, 2004
shares
Dec. 31, 2021
shares
Dec. 31, 2020
shares
Dec. 31, 2019
shares
May 12, 2017
shares
Stock options            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Antidilutive securities (in shares)     46,000 109,000 185,000  
2004 Plan            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Cumulative annual increments of the total number of shares   0.25        
Outstanding options, expiration date     Oct. 28, 2021      
2004 Plan | Stock options            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Common stock reserved (up to) (in shares)   2,696,294        
Options granted period     10 years      
2017 Plan | Stock options            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Common stock reserved (up to) (in shares)           1,500,000
Increase in common stock shares reserved 1,900,000          
Granted (in shares)     0