Consolidated Statements of Stockholders' Equity (Parenthetical) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Exercise of stock options (in shares)	414,914
Exercise of stock options	$ 1,331	$ 1,837	$ 3,138
At Market Equity Offering Program
Issuance costs	$ 3,476	$ 988	2,176
Public Stock Offering
Issuance costs			$ 10,809