Summary of Significant Accounting Policies - Net loss per share (Potentially dilutive securities) (Details) - shares	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Potentially dilutive securities
Potentially dilutive securities excluded from computation of diluted weighted average shares	2,472,395	1,958,037	1,586,946
Stock Options
Potentially dilutive securities
Potentially dilutive securities excluded from computation of diluted weighted average shares	2,071,848	1,706,438	1,498,390
Restricted stock units
Potentially dilutive securities
Potentially dilutive securities excluded from computation of diluted weighted average shares	311,991	163,043
Common Stock Warrants
Potentially dilutive securities
Potentially dilutive securities excluded from computation of diluted weighted average shares	88,556	88,556	88,556