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Summary of Option and Stock Appreciation Rights Outstanding by Range of Exercise Price (Details) - Stock Option and Stock Appreciation Rights (SARs) [Member]
12 Months Ended
Dec. 31, 2021
$ / shares
shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]  
Options Outstanding | shares 2,818,012
Weighted Average Remaining Life 7 years 9 months 7 days
Weighted Average Exercise Price $ 4.10
Number of Options Currently Exercisable | shares 1,229,610
Weighted Average Exercise Price per Vested Share $ 2.33
Range of Exercise Prices One [Member]  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]  
Range of Exercise Prices, Lower Limit 0.00
Range of Exercise Prices, Upper Limit $ 1.00
Options Outstanding | shares 397,306
Weighted Average Remaining Life 6 years 2 months 1 day
Weighted Average Exercise Price $ 0.74
Number of Options Currently Exercisable | shares 371,534
Weighted Average Exercise Price per Vested Share $ 0.74
Range of Exercise Prices Two [Member]  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]  
Range of Exercise Prices, Lower Limit 1.01
Range of Exercise Prices, Upper Limit $ 2.00
Options Outstanding | shares 60,037
Weighted Average Remaining Life 3 years 6 months 7 days
Weighted Average Exercise Price $ 1.76
Number of Options Currently Exercisable | shares 57,312
Weighted Average Exercise Price per Vested Share $ 1.79
Range of Exercise Prices Three [Member]  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]  
Range of Exercise Prices, Lower Limit 2.01
Range of Exercise Prices, Upper Limit $ 4.00
Options Outstanding | shares 698,237
Weighted Average Remaining Life 6 years 11 months 26 days
Weighted Average Exercise Price $ 2.10
Number of Options Currently Exercisable | shares 458,847
Weighted Average Exercise Price per Vested Share $ 2.08
Range of Exercise Prices Four [Member]  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]  
Range of Exercise Prices, Lower Limit 4.01
Range of Exercise Prices, Upper Limit $ 10.00
Options Outstanding | shares 1,662,432
Weighted Average Remaining Life 8 years 7 months 17 days
Weighted Average Exercise Price $ 5.83
Number of Options Currently Exercisable | shares 341,917
Weighted Average Exercise Price per Vested Share $ 4.48