Income Taxes - Unrecognized Tax Expense (Details) - USD ($)	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021
Unrecognized tax expense rollforward
Unrecognized tax expense, beginning of the year	$ 105,000	$ 104,000
Decrease related to prior year tax positions	(16,000)	(12,000)
Increase related to current year tax positions	16,000	13,000
Unrecognized tax expense, end of year	105,000	105,000
Interest and penalties on unrecognized tax benefit	$ 155,000	$ 155,000