Stock Based Compensation - Summary of Stock Option Activity under Incentive Plans (Details) $ / shares in Units, $ in Thousands	3 Months Ended
Mar. 31, 2023 USD ($) $ / shares shares
Share-Based Payment Arrangement [Abstract]
Number of Shares, Options Outstanding, Beginning Balance \| shares	2,756,368
Number of Shares, Forfeited \| shares	(4,333)
Number of Shares, Expired \| shares	(3,541)
Number of Shares, Options Outstanding, Ending Balance \| shares	2,748,494
Number of Shares, Options vested and exercisable at March 31, 2023 \| shares	1,724,176
Number of Shares, Vested and expected to vest after March 31, 2023 \| shares	2,631,002
Weighted Average Exercise Price Per Share, Options Outstanding, Beginning Balance \| $ / shares	$ 2.83
Weighted Average Exercise Price Per Share, Forfeited \| $ / shares	2.34
Weighted Average Exercise Price Per Share, Expired \| $ / shares	2.34
Weighted Average Exercise Price Per Share, Ending Balance \| $ / shares	2.84
Weighted Average Exercise Price Per Share, Options vested and exercisable, March 31, 2023 \| $ / shares	2.74
Weighted Average Exercise Price Per Share, Vested and expected to vest after March 31, 2023 \| $ / shares	$ 2.83
Weighted-Average Remaining Contractual Life (Years) Outstanding at March 31, 2023	6 years 8 months 12 days
Weighted-Average Remaining Contractual Life (in years) Options vested and exercisable, March 31, 2023	5 years 7 months 6 days
Weighted-Average Remaining Contractual Life (in years) Vested and expected to vest after March 31, 2023	6 years 7 months 6 days
Aggregate Intrinsic Value, Options outstanding, March 31, 2023 \| $	$ 192
Aggregate Intrinsic Value, Options vested and exercisable, March 31, 2023 \| $	111
Aggregate Intrinsic Value, Vested and expected to vest after March 31, 2023 \| $	$ 183

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Number of options or other stock instruments for which the right to exercise has lapsed under the terms of the plan agreements.

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The number of shares under options that were cancelled during the reporting period as a result of occurrence of a terminating event specified in contractual agreements pertaining to the stock option plan.

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Amount by which the current fair value of the underlying stock exceeds the exercise price of options outstanding.

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Number of options outstanding, including both vested and non-vested options.

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Weighted average price at which grantees can acquire the shares reserved for issuance under the stock option plan.

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Amount by which current fair value of underlying stock exceeds exercise price of fully vested and expected to vest exercisable or convertible options. Includes, but is not limited to, unvested options for which requisite service period has not been rendered but that are expected to vest based on achievement of performance condition, if forfeitures are recognized when they occur.

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Number of fully vested and expected to vest exercisable options that may be converted into shares under option plan. Includes, but is not limited to, unvested options for which requisite service period has not been rendered but that are expected to vest based on achievement of performance condition, if forfeitures are recognized when they occur.

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Weighted-average exercise price, at which grantee can acquire shares reserved for issuance, for fully vested and expected to vest exercisable or convertible options. Includes, but is not limited to, unvested options for which requisite service period has not been rendered but that are expected to vest based on achievement of performance condition, if forfeitures are recognized when they occur.

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Amount by which current fair value of underlying stock exceeds exercise price of fully vested and expected to vest options outstanding. Includes, but is not limited to, unvested options for which requisite service period has not been rendered but that are expected to vest based on achievement of performance condition, if forfeitures are recognized when they occur.

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Number of fully vested and expected to vest options outstanding that can be converted into shares under option plan. Includes, but is not limited to, unvested options for which requisite service period has not been rendered but that are expected to vest based on achievement of performance condition, if forfeitures are recognized when they occur.

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Weighted average price at which grantees could have acquired the underlying shares with respect to stock options of the plan that expired.

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Weighted average price at which grantees could have acquired the underlying shares with respect to stock options that were terminated.

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Weighted average remaining contractual term for option awards outstanding, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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