Shareholders' Equity - Additional Information (Details) - $ / shares	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Stockholders Equity Note [Abstract]
Employee Stock Purchase Plan (ESPP): Maximum annual contribution per employee	10.00%
Employee Stock Purchase Plan (ESPP), Shares in ESPP	156,000
Employee Stock Purchase Plan (ESPP), Shares purchased	19,000	29,000	32,000
Employee Stock Purchase Plan (ESPP), Weighted average purchase price	$ 8.74	$ 4.90	$ 4.57
Preferred stock, shares authorized	2,500,000	2,500,000
Preferred stock, par or stated value per share	$ 0.01	$ 0.01
Preferred stock, shares outstanding	0	0