Stock-Based Compensation - Stock Option Activity (Details) - $ / shares	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Number of shares
Balance at beginning of period	1,706,409	1,498,208	1,420,942
Granted	450,410	468,000	175,086
Exercised	(3,563)	(77,154)	(27,783)
Canceled/forfeited	(81,408)	(182,645)	(70,037)
Balance at end of period	2,071,848	1,706,409	1,498,208
Vested and expected to vest at end of period	2,022,232
Exercisable at end of period	1,237,751
Weighted average exercise price per share
Balance at beginning of period (in dollars per share)	$ 11.88	$ 10.87	$ 10.35
Granted ( in dollars per share)	10.24	14.80	15.03
Exercised (in dollars per share)	5.51	7.08	6.29
Canceled/forfeited (in dollars per share)	13.13	13.08	12.41
Balance at end of period (in dollars per share)	11.49	$ 11.88	$ 10.87
Vested and expected to vest at end of period (in dollars per share)	11.48
Exercisable at end of period (in dollars per share)	$ 11.14
Weighted average remaining contractual term (years)
Weighted average remaining contractual term, outstanding	7 years 1 month 28 days
Weighted average remaining contractual term, Vested and expected to vest	7 years 1 month 13 days
Weighted average remaining contractual term, Exercisable	6 years 1 month 28 days