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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, 2022
$ / shares
shares
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]  
Options Outstanding | shares 3,208,065
Weighted Average Remaining Life 7 years 4 months 24 days
Weighted Average Exercise Price $ 4.21
Number of Options Currently Exercisable | shares 1,749,297
Weighted Average Exercise Price per Vested Share $ 3.42
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 345,364
Weighted Average Remaining Life 5 years 1 month 28 days
Weighted Average Exercise Price $ 0.74
Number of Options Currently Exercisable | shares 345,364
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 84,995
Weighted Average Remaining Life 9 years 4 months 6 days
Weighted Average Exercise Price $ 1.59
Number of Options Currently Exercisable | shares 7,995
Weighted Average Exercise Price per Vested Share $ 1.19
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 631,339
Weighted Average Remaining Life 5 years 11 months 26 days
Weighted Average Exercise Price $ 2.08
Number of Options Currently Exercisable | shares 578,202
Weighted Average Exercise Price per Vested Share $ 2.07
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 2,146,367
Weighted Average Remaining Life 8 years 1 month 6 days
Weighted Average Exercise Price $ 5.50
Number of Options Currently Exercisable | shares 817,736
Weighted Average Exercise Price per Vested Share $ 5.52