Stock-based Compensation - Schedule of Stock Options and Stock Appreciation Rights (Details) - $ / shares	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Number of Share Underlying Awards
Outstanding, beginning of the period (in shares)	1,500,000	800,000
Granted (in shares)	55,000	1,098,000	0
Exercised (in shares)	(339,000)	0
Forfeited or expired (in shares)	0	(398,000)
Outstanding, ending of the period (in shares)	1,216,000	1,500,000	800,000
Exercisable, ending balance (in shares)	429,000	360,000
Vested and expected to vest, ending balance (in shares)	1,216,000	1,500,000
Weighted-Average Exercise Price
Outstanding, beginning balance (in dollars per share)	$ 3.62	$ 6.47
Granted (in dollars per share)	1.69	1.52
Exercised (in dollars per share)	2.01	0
Forfeited or expired (in dollars per share)	0	4.91
Outstanding, ending balance (in dollars per share)	3.98	3.62	$ 6.47
Exercisable (in dollars per share)	7.64	8.56
Vested and expected to vest, ending balance (in dollars per share)	$ 3.98	$ 3.62
Weighted-Average Remaining Contractual Term (years)
Outstanding	7 years 1 month 17 days	8 years 4 months 2 days	6 years 8 months 1 day
Granted	9 years 4 months 20 days	9 years 5 months 23 days
Exercised	8 years 5 months 1 day	0 years
Forfeited or expired	0 years	5 years 11 months 23 days
Exercisable, ending balance	4 years 7 months 17 days	5 years 1 month 24 days
Vested and expected to vest, ending balance	7 years 1 month 17 days	8 years 4 months 2 days
Weighted-Average Remaining Contractual Term (years)
Exercised	0 years	0 years
Forfeited or expired	2 years 8 months 4 days	0 years
Stock appreciation rights (SAR)
Number of Awards
Outstanding, beginning of the period (in shares)	48,000	48,000
Granted (in shares)	0	0
Exercised (in shares)	0	0
Forfeited or expired (in shares)	(7,000)	0
Outstanding, end of the period (in shares)	41,000	48,000	48,000
Exercisable end of the period (in shares)	41,000	48,000
Vested and expected to vest end of the period (in shares)	41,000	48,000
Weighted-Average Exercise Price
Outstanding, beginning balance (in dollars per share)	$ 12.00	$ 12.00
Granted (in dollars per share)	0	0
Exercised (in dollars per shares)	0	0
Forfeited or expired (in dollars per share)	12.00	0
Outstanding, ending balance (in dollars per share)	12.00	12.00	$ 12.00
Exercisable, ending balance (in dollars per share)	12.00	12.00
Vested and expected to vest, ending balance (in dollars per share)	$ 12.00	$ 12.00
Weighted-Average Remaining Contractual Term (years)
Outstanding	2 years 8 months 12 days	3 years 8 months 8 days	4 years 8 months 8 days
Granted	0 years	0 years
Exercisable	2 years 8 months 12 days	3 years 8 months 8 days
Vested and expected to vest	2 years 8 months 12 days	3 years 8 months 8 days