Stockholders' Equity - Options Outstanding Separated Into Range of Exercise Price (Details) - $ / shares	6 Months Ended	12 Months Ended
	Jun. 30, 2023	Dec. 31, 2022
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Weighted average exercise price (in dollars per share)	$ 7.633
Options outstanding, exercise price range (in shares)	637,367
Options outstanding, weighted average remaining contractual life (Year)	1 year 5 months 23 days	1 year 10 months 24 days
Options exercisable, exercise price range (in shares)	633,920
Options exercisable, weighted average remaining contractual life (years)	1 year 5 months 15 days
Weighted average exercise price of options exercisable, exercise price range (in dollars per share)	$ 7.644
Range One
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Lower range of exercise price (in dollars per share)	5.623
Upper range of exercise price (in dollars per share)	6.503
Weighted average exercise price (in dollars per share)	$ 5.640
Options outstanding, exercise price range (in shares)	82,342
Options outstanding, weighted average remaining contractual life, exercise price range (Year)	3 years 6 months
Options exercisable, exercise price range (in shares)	78,895
Options exercisable, weighted average remaining contractual life, exercise price range (years)	3 years 4 months 24 days
Weighted average exercise price of options exercisable, exercise price range (in dollars per share)	$ 5.639
Range Two
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Lower range of exercise price (in dollars per share)	7.000
Upper range of exercise price (in dollars per share)	8.077
Weighted average exercise price (in dollars per share)	$ 7.111
Options outstanding, exercise price range (in shares)	416,323
Options outstanding, weighted average remaining contractual life, exercise price range (Year)	1 year 25 days
Options exercisable, exercise price range (in shares)	416,323
Options exercisable, weighted average remaining contractual life, exercise price range (years)	1 year 25 days
Weighted average exercise price of options exercisable, exercise price range (in dollars per share)	$ 7.111
Range Three
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Weighted average exercise price (in dollars per share)	$ 9.960
Options outstanding, exercise price range (in shares)	120,180
Options outstanding, weighted average remaining contractual life, exercise price range (Year)	1 year 7 months 24 days
Options exercisable, exercise price range (in shares)	120,180
Options exercisable, weighted average remaining contractual life, exercise price range (years)	1 year 7 months 24 days
Weighted average exercise price of options exercisable, exercise price range (in dollars per share)	$ 9.960
Range Four
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Weighted average exercise price (in dollars per share)	$ 13.287
Options outstanding, exercise price range (in shares)	18,522
Options outstanding, weighted average remaining contractual life, exercise price range (Year)	8 months 23 days
Options exercisable, exercise price range (in shares)	18,522
Options exercisable, weighted average remaining contractual life, exercise price range (years)	8 months 23 days
Weighted average exercise price of options exercisable, exercise price range (in dollars per share)	$ 13.287