Equity Incentive Plans - Summary of Non-vested Stock Option Activity (Details) - $ / shares	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Summary of the activity of stock option awards, shares
Options non-vested, beginning balance (in shares)	682,000
Options granted (in shares)	342,000
Vested (in shares)	(258,000)
Forfeited (in shares)	(294,000)
Options non-vested, ending balance (in shares)	472,000	682,000
Options non vested, Wtd. avg. grant date fair value beginning balance (in dollars per share)	$ 1.79
Granted, Wtd. Avg. grant date fair value (in dollars per share)	2.49	$ 0.79	$ 1.59
Vested, Wtd. Avg. grant date fair value (in dollars per share)	2.32
Forfeited, Wtd. Avg. grant date fair value (in dollars per share)	2.70
Options non vested, Wtd. avg. grant date fair value ending balance (in dollars per share)	$ 1.89	$ 1.79