Quarterly report pursuant to Section 13 or 15(d)

Stock-Based Compensation - 2000 Equity Incentive Plan and 2017 Equity Incentive Plan (Details)

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Stock-Based Compensation - 2000 Equity Incentive Plan and 2017 Equity Incentive Plan (Details) - 2017 Plan - shares
Jun. 02, 2021
Aug. 30, 2018
Jun. 05, 2018
Dec. 31, 2021
Stock-Based Compensation        
Number of shares of common stock reserved for issuance (in shares)       300,000
Number of shares of common stock increased under amended and restated plan (in shares) 500,000 1,600,000 300,000  
Number of shares available for future grant (in shares)       796,894