Stock-Based Compensation (Details) - USD ($)	3 Months Ended
	Mar. 31, 2023	Mar. 31, 2022
Stock-Based Compensation
Stock-based compensation expense	$ 3,200,000	$ 2,700,000
Proceeds from exercise of stock options	$ 25,000	$ 491,000
Common Stock
Stock-Based Compensation
Exercise of stock options (in shares)	2,000	41,000
Common Stock | Employee Stock Purchase Plan
Stock-Based Compensation
Exercise of stock options (in shares)	58,000.0	100,000
Proceeds from exercise of stock options	$ 25,000.0	$ 500,000