Common Stock and Stock-Based Compensation - Summary of Stock Options, RSU and PSU Activity (Details) - shares	6 Months Ended
	Jun. 30, 2023	Jun. 30, 2022
Stock Options
Outstanding beginning balance (in shares)	2,425,833	2,814,878
Granted (in shares)	116,268	91,700
Options Exercised (in shares)	(26,672)	(62,321)
Forfeited or expired (in shares)	(44,674)	(40,044)
Outstanding ending balance (in shares)	2,470,755	2,804,213
RSUs
RSUs and PSUs
Outstanding beginning balance (in shares)	269,163	263,306
Granted (in shares)	253,700	148,000
Vested (in shares)	(105,071)	(101,898)
Forfeited or expired (in shares)	(16,875)	(7,082)
Outstanding ending balance (in shares)	400,917	302,326
PSUs
RSUs and PSUs
Outstanding beginning balance (in shares)	319,100	137,300
Granted (in shares)	211,800	228,200
Vested (in shares)	0	0
Forfeited or expired (in shares)	0	0
Outstanding ending balance (in shares)	530,900	365,500