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Stock-based Compensation - Narrative (Details) - USD ($)
1 Months Ended 12 Months Ended
Jun. 30, 2019
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Aug. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Stock-based compensation expense   $ 4,620,000 $ 3,213,000 $ 3,598,000    
Granted (in shares)   55,000 1,098,000 0    
Stock options            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Vesting period   3 years 3 years      
Strike exercise price multiplier, percent   200.00%        
Unrecognized compensation costs for options   $ 700,000        
Period for compensation recognition   1 year 6 months        
Stock appreciation rights (SAR)            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Vesting period         3 years  
Strike exercise price multiplier, percent   200.00%        
Granted (in shares)   0 0      
Unrecognized compensation cost for shares   $ 0        
Outstanding shares (in shares)   41,000 48,000 48,000    
Restricted stock units            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Vesting period   3 years 3 years      
Period for compensation recognition   1 year 9 months 18 days        
Unrecognized compensation cost for shares   $ 4,100,000        
Phantom stock options            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Vesting period   3 years        
Period for compensation recognition   1 year 4 months 24 days        
Unrecognized compensation cost for shares   $ 300,000        
Restricted stock | Director            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Vesting period   1 year 1 year      
Period for compensation recognition   7 months 6 days        
Unrecognized compensation cost for shares   $ 400,000        
2015 Incentive Compensation Plan            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Authorized to grant (in shares)   13,650,000        
Available for grant (in shares)   5,037,128        
Stock-based compensation expense   $ 4,600,000 $ 3,200,000 $ 3,600,000    
2019 Employee Stock Purchase Plan | Employee Stock            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Common stock reserved for future issuance (in shares)           1,250,000
Discount from market price, purchase date 15.00%          
Purchase period 6 months          
ESPP purchase price of common stock, percent of closing price 85.00%          
Issued under the ESPP (in shares)   670,306