Stockholders' Equity - Summary of Activity under Employee Stock Purchase Plan (Details) - Employee stock purchase plan - shares	3 Months Ended
	Mar. 31, 2022	Mar. 31, 2021
Summary of the Employee Stock Purchase Plan activity
Outstanding and exercisable, beginning of period (in shares)	348,514	341,647
Granted (in shares)	255,960	253,200
Exercised (in shares)	(10,553)	(15,965)
Forfeited (in shares)	(25,486)	(19,161)
Expired (in shares)	(140,633)	(144,422)
Outstanding and exercisable, end of period (in shares)	427,802	415,299