Annual report pursuant to Section 13 and 15(d)

Stock Plans - Additional information (Details)

v3.22.1
Stock Plans - Additional information (Details) - USD ($)
$ / shares in Units, $ in Millions
1 Months Ended 12 Months Ended
Jul. 31, 2002
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Aug. 31, 2015
Feb. 28, 2014
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Weighted-average period for recognizing non-vested stock option   1 year 1 month 6 days        
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Number   682,000 28,000      
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Weighted Average Grant Date Fair Value   $ 3.29 $ 6.30      
Employee Stock Option            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Employee Service Share-based Compensation, Nonvested Awards, Compensation Cost Not yet Recognized   $ 0.5        
Common Stock            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Shares, Outstanding   9,914,000 7,139,000 1,913,000    
2002 Plan [Member]            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Authorized 7,234          
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Number   1,324        
Share Based Compensation Arrangement By Share Based Payment Award Percentage Of Fair Market Value Of Common Stock For Calculating Exercise Price 100.00%          
2015 Plan            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Authorized         1,000,000  
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Number   320,936        
2015 Plan | Common Stock            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Shares, Outstanding   679,064        
2014 Plan [Member]            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Authorized           2,526
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Number   1,272