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Share-Based Compensation - Additional Information (Details)
$ in Thousands
1 Months Ended 3 Months Ended 9 Months Ended
Mar. 31, 2022
shares
Sep. 30, 2022
USD ($)
shares
Sep. 30, 2021
USD ($)
Sep. 30, 2022
USD ($)
installment
shares
Sep. 30, 2021
USD ($)
Dec. 31, 2020
shares
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Share-based compensation expenses   $ 2,178 $ 1,961 $ 6,633 $ 6,166  
Intrinsic value of stock options exercised       100    
Stock options            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Share-based compensation expenses   200 200 500 600  
Unrecognized compensation cost related to non-vested stock options   700   $ 700    
Non-vested awards not yet recognized weighted-average period for recognition       1 year 4 months 24 days    
Restricted Stock Units and Performance Restricted Stock Units            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Share-based compensation expenses   2,000 $ 1,800 $ 6,100 $ 5,500  
Non-vested awards not yet recognized weighted-average period for recognition       1 year 10 months 24 days    
Unrecognized compensation cost related to non-vested restricted stock   $ 11,000   $ 11,000    
Fair value of restricted stock vested       $ 2,200    
2018 Equity Incentive Plan            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Annual percentage increase in number of shares authorized for issuance       4.00%    
Vesting terms of stock options       stock options vest 25% upon the first anniversary of the date of grant and the remainder ratably monthly thereafter for 36 months. Restricted stock units generally vest ratably in three equal installments on the first, second and third anniversaries of the grant date.    
Number of vesting installments | installment       3    
Shares available for future issuance | shares   600,000   600,000    
2018 Equity Incentive Plan | PRSUs | Common Stock            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Weighted average price, number of days trailing       30 days    
2018 Equity Incentive Plan | First Anniversary of Date of Grant            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Vesting percentage of stock options       25.00%    
2018 Equity Incentive Plan | Maximum            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Number of shares authorized for issuance | shares   1,400,000   1,400,000    
Maximum contractual term of stock options       10 years    
2020 Inducement Incentive Plan            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Number of additional shares authorized for issuance | shares 500,000          
Shares available for future issuance | shares   500,000   500,000    
2020 Inducement Incentive Plan | Maximum            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Number of shares authorized for issuance | shares           400,000