Stockholders' Equity - ESPP Activity (Details) - ESPP - shares	12 Months Ended
Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Share-Based Compensation Arrangement By Share-Based Payment Award, Shares Available [Roll Forward]
Beginning balance, equity securities available (in shares)	133,184	149,199	184,860
Less: common stock purchased by eligible employees (shares)	0	(16,015)	(35,661)
Ending balance, equity securities available (in shares)	133,184	133,184	149,199

Number of share options (or share units) exercised during the current period.

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
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Namespace Prefix:	us-gaap_
Data Type:	xbrli:sharesItemType
Balance Type:	na
Period Type:	duration