Stock Based Compensation and Other Benefit Plans - Stock Option Plans (Details) - shares	12 Months Ended
Dec. 31, 2022	Dec. 31, 2021
Share-based compensation
Number of options outstanding	2,025,542	1,911,177
2010 Plan
Share-based compensation
Expiration period	10 years
Number of options outstanding	2,025,542
2010 Plan \| Minimum \| Terminated employee
Share-based compensation
Expiration period	3 months
2010 Plan \| Stock Options
Share-based compensation
Shares available for grant	192,964

Line items represent financial concepts included in a table. These concepts are used to disclose reportable information associated with domain members defined in one or many axes to the table.

No definition available.

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- Definition

The difference between the maximum number of shares (or other type of equity) authorized for issuance under the plan (including the effects of amendments and adjustments), and the sum of: 1) the number of shares (or other type of equity) already issued upon exercise of options or other equity-based awards under the plan; and 2) shares (or other type of equity) reserved for issuance on granting of outstanding awards, net of cancellations and forfeitures, if applicable.

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- Definition

Number of options outstanding, including both vested and non-vested options.

+ References

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- Definition

Period from grant date that an equity-based award expires, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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