Stock-Based Compensation - Narratives (Details)	12 Months Ended
	Dec. 31, 2022 USD ($) item $ / shares shares	Dec. 31, 2021 USD ($) $ / shares	Dec. 31, 2020 USD ($) $ / shares
Stock-Based Compensation
Number of equity incentive plans | item	2
Aggregate intrinsic value of exercisable options	$ 16,000	$ 400,000	$ 200,000
Stock Options
Stock-Based Compensation
Weighted average grant date fair value, Options (per share) | $ / shares	$ 6.55	$ 8.66	$ 8.13
Inducement grants | shares	381,125
Aggregate intrinsic value of outstanding options	$ 3,000,000.0
Aggregate intrinsic value of exercisable options	2,300,000
Unrecognized compensation expense	$ 5,100,000
Weighted average period for recognition of unrecognized expenses	2 years 6 months
Restricted stock units
Stock-Based Compensation
Vesting period	4 years
Weighted average grant date fair value, Equity Instruments (per share) | $ / shares	$ 11.21	$ 16.57
Inducement grants | shares	7,500
Aggregate intrinsic value	$ 3,600,000	$ 2,100,000
Unrecognized compensation expense	$ 2,600,000
Weighted average period for recognition of unrecognized expenses	2 years 7 months 6 days
2019 Equity Incentive Plan
Stock-Based Compensation
Shares available for future issuance | shares	1,427,772
Common Stock Capital Shares Reserved For Future Annual Issuance | shares	432,442
Common Stock Capital Shares Reserved For Future Issuance, Percentage Of Shares Outstanding Last Day Of Fiscal Year	4.00%
Vesting period	4 years
Vesting term	10 years