The maximum number of capital shares permitted to be issued by an entity's charter and bylaws.

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Refers to Share based compensation by share based payment fully vested stock awards grant date fair value.

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Aggregate number of common shares reserved for future issuance.

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Face amount or stated value per share of common stock.

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Number of shares of common stock outstanding. Common stock represent the ownership interest in a corporation.

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The cash outflow for cost incurred directly with the issuance of an equity security.

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Face amount or stated value per share of preferred stock nonredeemable or redeemable solely at the option of the issuer.

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The maximum number of nonredeemable preferred shares (or preferred stock redeemable solely at the option of the issuer) permitted to be issued by an entity's charter and bylaws.

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Total number of nonredeemable preferred shares (or preferred stock redeemable solely at the option of the issuer) issued to shareholders (includes related preferred shares that were issued, repurchased, and remain in the treasury). May be all or portion of the number of preferred shares authorized. Excludes preferred shares that are classified as debt.

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Aggregate share number for all nonredeemable preferred stock (or preferred stock redeemable solely at the option of the issuer) held by stockholders. Does not include preferred shares that have been repurchased.

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The cash inflow from the additional capital contribution to the entity.

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Period over which grantee's right to exercise award under share-based payment arrangement is no longer contingent on satisfaction of service or performance condition, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days. Includes, but is not limited to, combination of market, performance or service condition.

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The number of grants made during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan).

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Line items represent financial concepts included in a table. These concepts are used to disclose reportable information associated with domain members defined in one or many axes to the table.

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Number of additional shares authorized for issuance under share-based payment arrangement.

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Amount of accumulated difference between fair value of underlying shares on dates of exercise and exercise price on options exercised (or share units converted) into shares.

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Percentage of vesting of award under share-based payment arrangement.

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Purchase price of common stock expressed as a percentage of its fair value.

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Per share or per unit amount of equity securities issued.

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Stockholders' Equity, Stock Plans and Stock-based Compensation Expense - Narrative (Details)						1 Months Ended				12 Months Ended
	Apr. 21, 2020 USD ($) $ / shares shares	Apr. 01, 2020 shares	Jun. 14, 2019 shares	Jun. 11, 2019	Jan. 12, 2004 shares	Jul. 31, 2021 tranche shares	Aug. 31, 2020 shares	Jun. 30, 2020 shares	Jul. 31, 2019 shares	Dec. 31, 2021 USD ($) $ / shares shares	Dec. 31, 2020 USD ($) $ / shares shares	Dec. 31, 2019 USD ($) shares	Dec. 31, 2012 shares	Dec. 31, 1998 shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Common stock, par value (in dollars per share) \| $ / shares										$ 0.001	$ 0.001
Authorized capital (in shares)										55,000,000
Common stock authorized (in shares)										50,000,000	50,000,000
Common stock issued (in shares)										17,995,344	17,679,232
Common stock outstanding (in shares)										17,995,344	17,679,232
Preferred stock authorized (in shares)										5,000,000
Preferred stock, par value (in dollars per share) \| $ / shares										$ 0.001
Preferred stock issued (in shares)										0
Preferred stock outstanding (in shares)										0
Gross proceeds from equity offering \| $										$ 0	$ 28,798,000	$ 0
Stock issued, offering cost \| $										0	2,303,000	0
Vesting period									4 years
Percentage of awards officers are required to hold for a minimum of one year				50.00%
Awards granted (in shares)		209,981
Number of vesting tranches \| tranche						4
Intrinsic value of options exercised \| $										$ 1,300,000	$ 400,000	$ 1,000,000
Share-based Payment Arrangement, Tranche One
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period							5 years
Share-based Payment Arrangement, Tranche Two
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period							2 years 6 months
RSUs
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Awards granted (in shares)										744,949	667,694	963,814
RSUs \| Share-based Payment Arrangement, Nonemployee
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period										1 year
Awards granted (in shares)										41,301	35,735	42,236
RSUs \| Share-based Payment Arrangement, Employee
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Awards granted (in shares)										219,686	405,248	475,166
Restricted Stock Units, Annual Grant \| Share-based Payment Arrangement, Employee
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period										4 years
Restricted Stock Units, New Hire \| Share-based Payment Arrangement, Employee \| Share-based Payment Arrangement, Tranche One
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting percentage										25.00%
Restricted Stock Units, New Hire \| Share-based Payment Arrangement, Employee \| Share-based Payment Arrangement, Tranche Two
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period										36 months
PSUs \| Share-based Payment Arrangement, Employee
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Awards granted (in shares)						265,002			67,897	178,222	76,157	319,275
PSUs \| Share-based Payment Arrangement, Employee \| Share-based Payment Arrangement, Tranche One
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Awards granted (in shares)							60,000
Vesting percentage										50.00%
PSUs \| Share-based Payment Arrangement, Employee \| Share-based Payment Arrangement, Tranche Two
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Awards granted (in shares)							22,423
Vesting percentage										50.00%
1998 Stock Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Stock reserved for issuance (in shares)														4,650,000
2004 Equity Incentive Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Stock reserved for issuance (in shares)					1,750,000
Share subtraction (in shares)													2.12
Vesting period			1 year
2019 Equity Incentive Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Stock reserved for issuance (in shares)			9,701,192
Share subtraction (in shares)			2.12
Additional stock available for grant (in shares)			700,000
Grant date fair value \| $										$ 60,000
The Amended and Restated 2019 Equity Incentive Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Additional stock available for grant (in shares)								600,000
2004 Employee Stock Purchase Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Additional stock available for grant (in shares)					600,000
Offering period					6 months
Additional shares authorized, percentage					2.00%
Purchase price of stock, percent of market value										85.00%
ESPP stock issued (in shares)										59,635	56,751	82,810
Shares available for future issuance (in shares)										645,319
Underwritten Public Offering
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Common stock, par value (in dollars per share) \| $ / shares	$ 0.001
Issuance of common stock (in shares)	2,742,750
Common stock issued, price (in dollars per share) \| $ / shares	$ 10.50
Gross proceeds from equity offering \| $	$ 26,500,000
Stock issued, offering cost \| $	$ 2,300,000
Underwritten Public Offering \| Underwriter
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Issuance of common stock (in shares)	357,750