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Stock-Based Compensation - Performance Shares (Details) - USD ($)
$ / shares in Units, $ in Millions
1 Months Ended 3 Months Ended
Mar. 15, 2023
Feb. 14, 2023
Mar. 14, 2022
Feb. 15, 2022
Feb. 17, 2021
Mar. 31, 2023
Feb. 28, 2022
Mar. 31, 2023
Mar. 31, 2022
Dec. 31, 2021
Performance Shares                    
Shares                    
Non-vested, beginning of period (in shares)               76,000    
Granted (in shares)               13,000    
Non-vested, end of period (in shares)           89,000   89,000    
Weighted Average Grant Date Fair Value                    
Non-vested, beginning of period (in dollars per share)               $ 15.37    
Granted (in dollars per share)               3.71    
Non-vested, end of period (in dollars per share)           $ 13.71   $ 13.71    
Weighted-average grant date fair value of stock options granted (in dollars per share)           $ 3.71 $ 7.83      
Percentage of performance target cap of award 100.00%                  
Percentage of year-over-year annual revenue growth rate   2.70% 44.00%              
Shares eligible to vest   0                
Percentage of targeted financial performance               150.00%   25.00%
Unrecognized compensation expense related to restricted stock awards           $ 0.4   $ 0.4    
Weighted-average remaining contractual terms               1 year 2 months 12 days    
Performance Shares | First Anniversary                    
Shares                    
Vested (in shares)               0    
Weighted Average Grant Date Fair Value                    
Vesting period               4 years    
Performance Shares | Chief Executive Officer                    
Weighted Average Grant Date Fair Value                    
Stock options grants in period 223,590     114,320 113,130          
Performance Shares | Chief Executive Officer | Scenario Performance Minimum Financial Metric                    
Weighted Average Grant Date Fair Value                    
Share options vested in period 223,590                  
Performance Shares | Chief Financial Officer                    
Weighted Average Grant Date Fair Value                    
Stock options grants in period 77,600     32,100 38,475          
Performance Shares | Chief Financial Officer | Scenario Performance Minimum Financial Metric                    
Weighted Average Grant Date Fair Value                    
Share options vested in period 77,600                  
Options                    
Weighted Average Grant Date Fair Value                    
Stock options grants in period               0 0  
Restricted stock awards                    
Shares                    
Non-vested, beginning of period (in shares)               984,000    
Granted (in shares)               20,000    
Vested (in shares)               (9,000)    
Forfeited (in shares)               (3,000)    
Non-vested, end of period (in shares)           992,000   992,000    
Weighted Average Grant Date Fair Value                    
Non-vested, beginning of period (in dollars per share)               $ 5.55    
Granted (in dollars per share)               4.41    
Vested (in dollars per share)               12.26    
Forfeited (in dollars per share)               5.40    
Non-vested, end of period (in dollars per share)           $ 5.46   $ 5.46    
Weighted-average remaining contractual terms               1 year 4 months 24 days