Document and Entity Information Document Type Document Quarterly Report Document Period End Date Document Transition Report Entity File Number Entity Registrant Name Entity Incorporation, State or Country Code Entity Tax Identification Number Entity Address, Address Line One Entity Address, City or Town Entity Address, State or Province Entity Address, Postal Zip Code City Area Code Local Phone Number Title of 12(b) Security Trading Symbol Security Exchange Name Entity Current Reporting Status Entity Interactive Data Current Entity Filer Category Entity Small Business Entity Emerging Growth Company Entity Ex Transition Period Entity Shell Company Entity Common Stock, Shares Outstanding Entity Central Index Key Current Fiscal Year End Date Document Fiscal Year Focus Document Fiscal Period Focus Amendment Flag Consolidated Balance Sheets Statement [Table] Statement [Table] Statement [Line Items] Assets [Abstract] Assets Assets, Current [Abstract] Current assets: Cash and Cash Equivalents, at Carrying Value Cash and cash equivalents Receivables, Net, Current Accounts receivable, net Inventory, Net Inventory Prepaid Expense and Other Assets, Current Prepaid expenses and other assets Assets, Current Total current assets Property, Plant and Equipment, Net Property and equipment, net Intangible Assets, Net (Excluding Goodwill) Intangible assets, net Operating Lease, Right-of-Use Asset Right-of-use assets Assets Total assets Liabilities and Equity [Abstract] Liabilities and stockholders' equity Liabilities, Current [Abstract] Current liabilities: Accounts Payable, Current Accounts payable Accrued Liabilities, Current Total accrued expenses and other current liabilities Accrued expenses and other current liabilities Liabilities, Current Total current liabilities Long-term Debt, Excluding Current Maturities Longterm debt Other Liabilities, Noncurrent Other longterm liabilities Liabilities Total liabilities Stockholders' Equity Attributable to Parent [Abstract] Stockholders' equity: Preferred Stock, Value, Issued Preferred stock; $0.001 par value: 10,000,000 shares authorized; no shares issued and outstanding Common Stock, Value, Issued Common stock; $0.001 par value: 200,000,000 shares authorized; 24,475,504 and 19,165,027 shares issued and outstanding at June 30, 2023 and December 31, 2022, respectively Additional Paid in Capital Additional paid-in capital Accumulated Other Comprehensive Income (Loss), Net of Tax Accumulated other comprehensive income Retained Earnings (Accumulated Deficit) Accumulated deficit Stockholders' Equity Attributable to Parent Balance at Ending period Balance at Beginning of period Total stockholders' equity Liabilities and Equity Total liabilities and stockholders' equity Preferred Stock, Par or Stated Value Per Share Preferred stock, Par value (in dollars per share) Preferred Stock, Shares Authorized Preferred stock, shares authorized (in shares) Preferred Stock, Shares Issued Preferred stock, shares issued (in shares) Preferred Stock, Shares Outstanding Preferred stock, shares outstanding (in shares) Common Stock, Par or Stated Value Per Share Common stock, Par value (in dollars per share) Common Stock, Shares Authorized Common stock, shares authorized (in shares) Common Stock, Shares, Issued Common stock, shares issued (in shares) Common Stock, Shares, Outstanding Common stock, shares outstanding (in shares) Consolidated Statements of Operations and Comprehensive Loss Revenue from Contract with Customer, Excluding Assessed Tax Revenue Cost of Goods and Service, Excluding Depreciation, Depletion, and Amortization Cost of revenue (excluding amortization of intangible assets) Amortization of Intangible Assets Amortization of intangible assets Gross Profit Gross profit Operating Expenses [Abstract] Operating expenses: Selling and Marketing Expense Sales and marketing General and Administrative Expense General and administrative Research and Development Expense Research and development Operating Expenses Total operating expenses Operating Income (Loss) Loss from operations Nonoperating Income (Expense) [Abstract] Other expense: Interest Expense Interest expense Gain (Loss) on Extinguishment of Debt Loss on extinguishment of debt Other Nonoperating Income (Expense) Other income (expense) Nonoperating Income (Expense) Total other expense Net Income (Loss) Attributable to Parent Net loss Net loss Earnings Per Share, Basic and Diluted Net loss per common share, basic Earnings Per Share, Diluted Net loss per common share, diluted Weighted Average Number of Shares Outstanding, Basic and Diluted Weighted average common shares outstanding, basic Weighted Average Number of Shares Outstanding, Diluted Weighted average common shares outstanding, diluted Comprehensive Income (Loss), Net of Tax, Attributable to Parent [Abstract] Comprehensive loss: Other Comprehensive Income (Loss), Foreign Currency Transaction and Translation Adjustment, Net of Tax, Portion Attributable to Parent Foreign currency translation adjustment Comprehensive Income (Loss), Net of Tax, Attributable to Parent Comprehensive loss Consolidated Statements of Stockholders' Equity Equity Components [Axis] Equity Component [Domain] Common stock Additional paid-in capital Accumulated other comprehensive income Accumulated deficit Shares, Outstanding Balance at Ending period (in shares) Balance at Beginning of period (in shares) Equity impact of the value of stock vesting of common stock previously subject to repurchase. Stock Issued During Period Value Vesting Of Common Stock Previously Subject To Repurchase Vesting of common stock previously subject to repurchase Number of shares that have been vesting of common stock previously subject to repurchase. Stock Issued During Period Shares Vesting Of Common Stock Previously Subject To Repurchase Vesting of common stock previously subject to repurchase (in shares) Stock Issued During Period, Value, Stock Options Exercised Vesting of share-based awards and exercise of stock options Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercises in Period Exercised Vesting of share-based awards and exercise of stock options (in shares) Share-based Payment Arrangement, Decrease for Tax Withholding Obligation Shares withheld for employee taxes Share-based Payment Arrangement, Shares Withheld for Tax Withholding Obligation Shares withheld for employee taxes (in shares) APIC, Share-based Payment Arrangement, Increase for Cost Recognition Stock-based compensation expense Stock Issued During Period, Value, New Issues Sale of common stock, net of underwriting discounts, commissions and offering costs Stock Issued During Period, Shares, New Issues Common stock issued and sold (in shares) Sale of common stock, net of underwriting discounts, commissions and offering costs (in shares) Consolidated Statements of Cash Flows Net Cash Provided by (Used in) Operating Activities [Abstract] Cash flows from operating activities: Net Income (Loss), Including Portion Attributable to Noncontrolling Interest Net loss Adjustments to Reconcile Net Income (Loss) to Cash Provided by (Used in) Operating Activities [Abstract] Adjustments to reconcile net loss to net cash used in operating activities: Depreciation Depreciation expense Paid-in-Kind Interest Noncash interest expense Noncash Loss On Extinguishment Of Debt Noncash Loss On Extinguishment Of Debt Noncash loss on extinguishment of debt Amount of net changes in operating lease right-of-use assets and liabilities. Net Changes in Operating Lease Right-of-use Assets And Liabilities Net changes in operating lease ROU assets and liabilities Inventory Write-down Inventory excess and obsolescence charge Share-based Payment Arrangement, Noncash Expense Stockbased compensation expense Increase (Decrease) in Operating Capital [Abstract] Change in operating assets and liabilities: Increase (Decrease) in Accounts Receivable Accounts receivable, net Increase (Decrease) in Inventories Inventory Increase (Decrease) in Prepaid Expense and Other Assets Prepaid expenses and other current assets Increase (Decrease) in Accounts Payable Accounts payable Increase (Decrease) in Accrued Liabilities and Other Operating Liabilities Accrued expenses and other current and long-term liabilities Foreign Currency Transaction Gain (Loss), before Tax Foreign currency remeasurement (gain) loss Net Cash Provided by (Used in) Operating Activities Net cash used in operating activities Net Cash Provided by (Used in) Investing Activities [Abstract] Cash flows from investing activities: Payments to Acquire Property, Plant, and Equipment Purchase of property and equipment Net Cash Provided by (Used in) Investing Activities Net cash used in investing activities Net Cash Provided by (Used in) Financing Activities [Abstract] Cash flows from financing activities: Proceeds from Issuance of Common Stock Proceeds from sale of common stock, net of underwriting discounts, commissions and offering costs Received net proceeds of after deducting underwriting discounts, commissions and other offering expenses Proceeds from Issuance of Long-Term Debt Proceeds from issuance of longterm debt Repayments of Long-term Debt Repayment of longterm debt Payments of Financing Costs Payment of debt financing costs Proceeds from Stock Options Exercised Proceeds from exercise of stock options Payment, Tax Withholding, Share-based Payment Arrangement Payment of withholding taxes related to stock-based compensation to employees Net Cash Provided by (Used in) Financing Activities Net cash provided by financing activities Effect of Exchange Rate on Cash, Cash Equivalents, Restricted Cash and Restricted Cash Equivalents, Including Disposal Group and Discontinued Operations Effect of exchange rate on cash and cash equivalents Cash, Cash Equivalents, Restricted Cash and Restricted Cash Equivalents, Period Increase (Decrease), Including Exchange Rate Effect Net increase (decrease) in cash and cash equivalents Cash, Cash Equivalents, Restricted Cash and Restricted Cash Equivalents Cash and cash equivalents, end of period Cash and cash equivalents, beginning of period Supplemental Cash Flow Information [Abstract] Supplemental disclosure of cash flow information: Interest Paid, Excluding Capitalized Interest, Operating Activities Cash paid during the period for interest Noncash Investing and Financing Items [Abstract] Supplemental disclosures of noncash investing and financing activities: Capital Expenditures Incurred but Not yet Paid Property and equipment in accounts payable and accrued expenses and other current liabilities Offering costs in accounts payable and accrued expense and other current liabilities. Offering Costs In Accounts Payable And Accrued Expense And Other Current Liabilities Offering costs in accounts payable and accrued expenses and other current liabilities Milestone payment deemed probable but not yet paid classified as an intangible asset. Accrued Milestone Payment Current Intangible asset in accrued expenses and other liabilities Right-of-Use Asset Obtained in Exchange for Operating Lease Liability Operating lease ROU asset exchanged for operating lease liabilities Amount of tenant improvement and deferred rent exchanged for operating lease liabilities. Tenant Improvements and Deferred Rent Exchanged For Operating lease Liabilities Tenant improvement and deferred rent reclassified to operating lease liabilities Amount of increase in operating lease obligation assumed on exchange of operating lease right-of-use assets. Operating Lease Obligation Assumed Operating lease liabilities assumed for operating lease ROU assets Background Organization, Consolidation and Presentation of Financial Statements Disclosure [Text Block] Background Risks and Liquidity Concentration Risk Disclosure [Text Block] Risks and Liquidity Summary of Significant Accounting Policies Significant Accounting Policies [Text Block] Summary of Significant Accounting Policies Leases Lessee, Operating Leases [Text Block] Leases Accrued Expenses and Other Current Liabilities Accounts Payable, Accrued Liabilities, and Other Liabilities Disclosure, Current [Text Block] Accrued Expenses and Other Current Liabilities Long term Debt Long-term Debt [Text Block] Long term Debt Stockholders' Equity Stockholders' Equity Note Disclosure [Text Block] Stockholders' Equity Stock-Based Compensation Share-based Payment Arrangement [Text Block] Stock-Based Compensation Disclosure of accounting policy for the preparation of interim financial statements in conformity with generally accepted accounting principles. Interim Financial Statements Policy [Policy Text Block] Interim Financial Statements Use of Estimates, Policy [Policy Text Block] Use of Estimates Revenue [Policy Text Block] Revenue Recognition Fair Value of Financial Instruments, Policy [Policy Text Block] Fair value of financial instruments Earnings Per Share, Policy [Policy Text Block] Net loss per share New Accounting Pronouncements, Policy [Policy Text Block] Recently Issued Accounting Pronouncements Disaggregation of Revenue [Table Text Block] Disaggregation of Revenue Fair Value Measurements, Recurring and Nonrecurring [Table Text Block] Schedule of fair value of assets and liabilities measured on recurring basis Schedule of Antidilutive Securities Excluded from Computation of Earnings Per Share [Table Text Block] Schedule of dilutive securities excluded Lessee, Operating Lease, Liability, Maturity [Table Text Block] Schedule of future minimum lease payments under non-cancelable operating lease agreement Schedule of Accrued Liabilities [Table Text Block] Schedule of Accrued Expenses and Other Current Liabilities Schedule of Debt [Table Text Block] Schedule of long term debt Schedule of Stockholders' Equity Note, Warrants or Rights [Table Text Block] Schedule of warrants outstanding to purchase common stock Share-based Payment Arrangement, Expensed and Capitalized, Amount [Table Text Block] Schedule of stock based compensation expense categories in statement of operations Share-based Payment Arrangement, Option, Activity [Table Text Block] Schedule of stock option activity Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Weighted Average Grant Date Fair Value [Table Text Block] Schedule of weighted average assumptions Share-based Payment Arrangement, Restricted Stock Unit, Activity [Table Text Block] Schedule of restricted stock units (RSUs) Unusual Risk or Uncertainty [Table] Sale of Stock [Axis] Sale of Stock [Domain] Underwritten Public Offering [Member] Underwritten public offering Over-Allotment Option Unusual Risk or Uncertainty [Line Items] Shares Issued, Price Per Share Offering price (in dollar per share) Revenue from Contract with Customer [Abstract] Disaggregation of Revenue [Table] Customer [Axis] Customer [Domain] OviTex [Member] OviTex [Member] OviTex OviTex PRS [Member] OviTex PRS [Member] OviTex PRS Represents the information pertaining to other customers. Other [Member] Other Geographical [Axis] Geographical [Domain] Non-US [Member] Disaggregation of Revenue [Line Items] Represents incremental costs incurred in obtaining a contract. Incremental Costs Of Obtaining A Contract Incremental costs of obtaining a contract Fair Value, Recurring and Nonrecurring [Table] Measurement Frequency [Axis] Measurement Frequency [Domain] Recurring Fair Value Hierarchy and NAV [Axis] Fair Value Hierarchy and NAV [Domain] Level 1 Financial Instrument [Axis] Financial Instruments [Domain] Money market funds Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] Fair value of financial instruments Cash and Cash Equivalents, Fair Value Disclosure Cash equivalents Schedule of Antidilutive Securities Excluded from Computation of Earnings Per Share [Table] Antidilutive Securities [Axis] Antidilutive Securities, Name [Domain] Restricted stock units Represents information pertaining to common stock warrants. Common Stock Warrants Award Type [Axis] Award Type [Domain] Stock Options Stock Options Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items] Potentially dilutive securities Antidilutive Securities Excluded from Computation of Earnings Per Share, Amount Potentially dilutive securities excluded from computation of diluted weighted average shares Lessee, Lease, Description [Table] Long-Lived Tangible Asset [Axis] Long-Lived Tangible Asset [Domain] Represents information relating to office and laboratory space lease. Office and laboratory space Pennsylvania Lessee, Lease, Description [Line Items] Lessee, Operating Lease, Existence of Option to Extend [true false] Lessee, Operating Lease, Renewal Term Renewal term of operating lease Operating Lease, Liability Lease liability Total operating lease liabilities Lessee, Operating Lease, Discount Rate Incremental borrowing rate Operating Lease, Cost Operating lease cost Operating Lease, Payments Operating lease payments made Lessee, Operating Lease, Remaining Lease Term Remaining lease term Operating Lease, Liability, Current Current portion of operating lease liabilities Operating Lease, Liability, Current Operating Lease, Liability, Current, Statement of Financial Position [Extensible Enumeration] Operating Lease, Liability, Noncurrent Operating Lease, Liability, Noncurrent Operating Lease, Liability, Noncurrent, Statement of Financial Position [Extensible Enumeration] Lessee, Operating Lease, Liability, Payment, Due [Abstract] Undiscounted future minimum lease payments under non-cancelable leases Lessee, Operating Lease, Liability, to be Paid, Remainder of Fiscal Year Remainder of 2023 Lessee, Operating Lease, Liability, Payments, Due Next Twelve Months 2024 Lessee, Operating Lease, Liability, Payments, Due Year Two 2025 Lessee, Operating Lease, Liability, to be Paid, Year Three 2026 Lessee, Operating Lease, Liability, to be Paid, Year Four 2027 Lessee, Operating Lease, Liability, to be Paid, after Year Five Thereafter Lessee, Operating Lease, Liability, Payments, Due Total undiscounted future minimum lease payments Lessee, Operating Lease, Liability, Undiscounted Excess Amount Less imputed interest Employee-related Liabilities, Current Compensation and related benefits Accrued Professional Fees, Current Third-party and professional fees Carrying value as of the balance sheet date of obligations incurred and payable, pertaining to contract manufacturer due. Accrued Expenses, Amount Due To Contract Manufacturer Amounts due to contract manufacturer Carrying value of current portion of obligation payable pertaining to Research and development. Research And Development Expenses Payable Current Research and development expenses Other Accrued Liabilities, Current Other Schedule of Long-term Debt Instruments [Table] Long-term Debt, Type [Axis] Long-term Debt, Type [Domain] Represents information pertaining to MidCap Term loans. MidCap Term Loan Represents Information pertaining to OrbiMed Term Loan. OrbiMed Term Loans (related party) Debt Instrument [Line Items] Long term Debt Debt Instrument, Face Amount Long Term Debt Debt amount Debt Instrument, Unamortized Premium End of term charge Debt Instrument, Unamortized Discount (Premium) and Debt Issuance Costs, Net Unamortized end of term charge and issuance costs Long-term Debt. Longterm debt Represents information pertaining to MidCap term loans tranche one. MidCap Term Loan Tranche One [Member] Tranche One Represents information pertaining to MidCap term loans tranche two .. MidCap Term Loan Tranche Two [Member] Tranche Two Variable Rate [Axis] Variable Rate [Domain] Secured Overnight Financing Rate (SOFR) Overnight Index Swap Rate [Member] SOFR Scenario [Axis] Scenario [Domain] Represents the information first year of term loan. First Year [Member] First year Represents the information second year of term loan. Second Year [Member] Second year Represents the information third year of term loan. Third Year [Member] Third year Statistical Measurement [Axis] Statistical Measurement [Domain] Maximum Minimum Amount of revenue the company must generate to be eligible to borrow Tranche 2. Eligibility Requirement To Borrow Tranche 2 Eligibility Requirement To Borrow Tranche 2 Percentage of penalty to be paid on the event of default in meeting the obligation. Interest Penalty, Percentage Interest due to unpaid obligation Debt Instrument, Interest Rate, Stated Percentage Interest Rate (as a percent) Debt Instrument, Basis Spread on Variable Rate Variable Interest Rate (as a percent) The term of debt instrument interest payment. Debt Instrument Interest Payment Term Number of Installment Additional extension for interest only payment period. Additional Extension for Interest Only Payment Period Extension for interest only payment period Percentage of penalty to be paid on principal amount of debt for the first year after closing date and thereafter. Percentage Of Prepayment Penalty On Prepaid Principal Amount Percentage of prepayment penalty on prepaid principal amount Percentage of the principal amount paid as an exit fee at the time of maturity or prepayment. Percentage Of Exit Fee Exit fee (as a percent) Interest Expense, Debt Interest expenses Amortization of Debt Issuance Costs Amortization of debt issuance costs Debt Instrument [Axis] Debt Instrument, Name [Domain] Represents Information pertaining to OrbiMed Term Loans Tranche One. OrbiMed Term Loans - Tranche One Represents Information pertaining to OrbiMed Term Loans Tranche Two. OrbiMed Term Loans - Tranche Two Number of tranches of debt obtained. Number Of Tranches Number of Tranches Temporary Equity, by Class of Stock [Table] Equity Distribution Agreement [Member] Equity Distribution Agreement Temporary Equity [Line Items] Stockholders' Equity Value Of Shares Authorized To Be Sold Under Equity Distribution Agreement Value Of Shares Authorized To Be Sold Under Equity Distribution Agreement Value Of Shares Authorized To Be Sold Under Equity Distribution Agreement Class of Warrant or Right [Axis] Class of Warrant or Right [Domain] Represents information pertaining to common stock warrants expiring in 2028. Common stock warrants expiring in 2028 Represents information pertaining to common stock warrants expiring in 2027. Common stock warrants expiring in 2027 Class of Warrant or Right, Outstanding Warrants outstanding Class of Warrant or Right, Exercise Price of Warrants or Rights Warrants exercise price Class of Warrant or Right, Date from which Warrants or Rights Expire Class of Warrant or Right, Date from which Warrants or Rights Expire Expiration dates Share-based Payment Arrangement, Expensed and Capitalized, Amount [Table] Plan Name [Axis] Plan Name [Domain] This member stands for 2019 Equity Incentive Plan. 2019 Equity Incentive Plan Represents information relating to service based restricted stock units. Performance Based Restricted Stock Units [Member] Performance based restricted stock units Represents information relating to service based restricted stock unit Service Based Restricted Stock Unit [Member] Service based restricted stock unit Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] Stock-Based Compensation Represents about number of equity incentive plans. Equity Incentive Plans, Number Number of equity incentive plans Common Stock, Capital Shares Reserved for Future Issuance Shares available for future issuance Common Stock Capital Shares Reserved For Future Annual Issuance Common Stock Capital Shares Reserved For Future Annual Issuance Potential Common Shares Added Annually To Equity Plan Evergreen Option, Percentage Of Shares Outstanding Last Day Of Fiscal Year Potential Common Shares Added Annually To Equity Plan Evergreen Option, Percentage Of Shares Outstanding Last Day Of Fiscal Year Potential Common Shares Added Annually To Equity Plan Evergreen Option, Percentage Of Shares Outstanding Last Day Of Fiscal Year Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period Vesting period Share-Based Compensation Arrangement by Share-Based Payment Award, Expiration Period Contractual term Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Weighted Average Grant Date Fair Value Weighted average grant date fair value, Options (per share) Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period, Weighted Average Grant Date Fair Value Weighted average grant date fair value, Equity Instruments (per share) Number of inducement stock options outstanding. Share-based Compensation Arrangement by Share-based Payment Award, Options, Inducement Grants in Period Inducement grants Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Intrinsic Value Aggregate intrinsic value of outstanding options Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercisable, Intrinsic Value Aggregate intrinsic value of exercisable options Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercises in Period, Intrinsic Value Aggregate intrinsic value of exercised options Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Aggregate Intrinsic Value, Outstanding Aggregate intrinsic value Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount Unrecognized compensation expense Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition Weighted average period for recognition of unrecognized expenses Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period Granted Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Rights, Percentage Vest Range Income Statement Location [Axis] Income Statement Location [Domain] Sales and marketing General and administrative Research and development Share-based Payment Arrangement, Expense Total stock-based compensation Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward] Number of shares Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Number Balance at end of period Balance at beginning of period Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Gross Granted Share-based Compensation Arrangement by Share-based Payment Award, Options, Forfeitures in Period Canceled/forfeited Share-based Compensation Arrangement by Share-based Payment Award, Options, Vested and Expected to Vest, Outstanding, Number Vested and expected to vest at end of period Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercisable, Number Exercisable at end of period Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Exercise Price [Abstract] Weighted average exercise price per share Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Exercise Price Balance at end of period (in dollars per share) Balance at beginning of period (in dollars per share) Share-based Compensation Arrangements by Share-based Payment Award, Options, Grants in Period, Weighted Average Exercise Price Granted ( in dollars per share) Share-based Compensation Arrangements by Share-based Payment Award, Options, Exercises in Period, Weighted Average Exercise Price Exercised (in dollars per share) Share-based Compensation Arrangements by Share-based Payment Award, Options, Forfeitures in Period, Weighted Average Exercise Price Canceled/forfeited (in dollars per share) Share-based Compensation Arrangement by Share-based Payment Award, Options, Vested and Expected to Vest, Outstanding, Weighted Average Exercise Price Vested and expected to vest at end of period (in dollars per share) Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercisable, Weighted Average Exercise Price Exercisable at end of period (in dollars per share) Share-based Compensation Arrangement by Share-based Payment Award, Options, Additional Disclosures [Abstract] Weighted average remaining contractual term (years) Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Remaining Contractual Term Weighted average remaining contractual term, outstanding Share-based Compensation Arrangement by Share-based Payment Award, Options, Vested and Expected to Vest, Outstanding, Weighted Average Remaining Contractual Term Weighted average remaining contractual term, Vested and expected to vest Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercisable, Weighted Average Remaining Contractual Term Weighted average remaining contractual term, Exercisable Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Expected Volatility Rate Expected volatility Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Risk Free Interest Rate Risk-free interest rate Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Expected Term Expected term (in years) Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number Outstanding at end of period Outstanding at beginning of period Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Vested in Period Vested Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Forfeited in Period Canceled/forfeited