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Share-Based Compensation - Narrative (Details)
$ / shares in Units, $ in Thousands
12 Months Ended
Dec. 31, 2021
USD ($)
offeringPeriod
$ / shares
shares
Dec. 31, 2020
USD ($)
$ / shares
shares
Dec. 31, 2019
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Shares available for grant (in shares) | shares 1,100,000    
Granted (in dollars per share) $ 4.73 $ 3.32  
Share price (in dollars per share) $ 3.89    
Weighted average remaining contract life 7 years 10 months 17 days 8 years 5 months 1 day 8 years 11 months 8 days
Common Stock      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Shares issued under employee stock purchase plan (in shares) | shares 40,146 32,986  
Restricted Stock Units      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Grant date fair value | $   $ 958  
Unrecognized compensation costs | $ $ 0    
Granted (in dollars per share) $ 0 $ 7.54  
Restricted Stock Units | Key Employees      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Vesting period 3 years    
Stock Options      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Vesting period 3 years    
Unrecognized compensation costs | $ $ 3,724    
Granted (in dollars per share) $ 3.61 $ 2.61  
Expected dividend yield 0.00% 0.00%  
Weighted average recognition period 1 year 6 months 3 days    
Term of award 10 years    
Stock Options | Minimum      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Granted (in dollars per share) $ 3.76 $ 1.54  
Stock Options | Maximum      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Granted (in dollars per share) $ 5.30 $ 7.86  
Stock Options | Key Employees      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Vesting period 3 years    
Stock Options | Director      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Vesting period 1 year    
Employee Stock      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Number of yearly offering periods | offeringPeriod 2    
Offering period term 6 months    
Employee stock purchase plan, purchase price percentage 85.00%    
Number of shares reserved for issuance (in shares) | shares 250,000    
ESPP discounts | $ $ 24 $ 26