Common Stock and Stock-Based Compensation - Summary of Stock Options, RSU and PSU Activity (Details) - shares	6 Months Ended
	Jun. 30, 2022	Jun. 30, 2021
Stock Options
Outstanding beginning balance (in shares)	2,814,878	3,331,890
Granted (in shares)	91,700	106,000
Options Exercised (in shares)	(62,321)	(94,328)
Forfeited or expired (in shares)	(40,044)	(283,998)
Outstanding ending balance (in shares)	2,804,213	3,059,564
RSUs
RSUs and PSUs
Outstanding beginning balance (in shares)	263,306	328,396
Granted (in shares)	148,000	106,600
Vested (in shares)	(101,898)	(94,273)
Forfeited or expired (in shares)	(7,082)	(29,796)
Outstanding ending balance (in shares)	302,326	310,927
PSUs
RSUs and PSUs
Outstanding beginning balance (in shares)	137,300	97,750
Granted (in shares)	228,200	159,000
Vested (in shares)	0	0
Forfeited or expired (in shares)	0	(97,750)
Outstanding ending balance (in shares)	365,500	159,000