Annual report pursuant to Section 13 and 15(d)

Borrowings Under Term Loan and Line of Credit - Narrative (Details)

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Borrowings Under Term Loan and Line of Credit - Narrative (Details) - USD ($)
12 Months Ended
Aug. 02, 2021
Mar. 17, 2020
Dec. 16, 2019
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Dec. 19, 2019
Feb. 28, 2018
Apr. 26, 2017
Nov. 08, 2016
Debt Instrument [Line Items]                    
Repayment of drawdown on line of credit       $ 0 $ 4,672,000 $ 0        
Term Loan                    
Debt Instrument [Line Items]                    
Deferred original issue discount and loan fees       434,000 410,000          
Term Loan | PNC Bank                    
Debt Instrument [Line Items]                    
Term loan repayments made       1,000,000 1,200,000 $ 800,000        
Deferred original issue discount and loan fees       400,000 400,000          
Letter of Credit                    
Debt Instrument [Line Items]                    
Maximum borrowing capacity                 $ 500,000 $ 300,000
Amended Credit Facility Effective February 2018 | Term Loan | PNC Bank                    
Debt Instrument [Line Items]                    
Face amount               $ 45,000,000    
Amended Credit Facility Effective February 2018 | Revolving Credit Facility | Line of Credit | PNC Bank                    
Debt Instrument [Line Items]                    
Maximum borrowing capacity               5,000,000    
Repayment of drawdown on line of credit   $ 4,700,000                
Amended Credit Facility Effective February 2018 | Letter of Credit | Line of Credit | PNC Bank                    
Debt Instrument [Line Items]                    
Maximum borrowing capacity               $ 1,500,000    
Amended Credit Facility Effective December 2019 | Term Loan | PNC Bank                    
Debt Instrument [Line Items]                    
Face amount     $ 57,600,000              
Amount of increase to term loan borrowing     13,900,000              
Loan fees             $ 100,000      
Unused borrowing capacity       $ 0 $ 0          
Amended Credit Facility Effective December 2019 | Term Loan | PNC Bank | Trigger One                    
Debt Instrument [Line Items]                    
Term loan repayment, quarterly installment amount     300,000              
Amended Credit Facility Effective December 2019 | Term Loan | PNC Bank | Trigger Two                    
Debt Instrument [Line Items]                    
Term loan repayment, quarterly installment amount     400,000              
Amended Credit Facility Effective December 2019 | Term Loan | PNC Bank | Trigger Three                    
Debt Instrument [Line Items]                    
Term loan repayment, quarterly installment amount     700,000              
Amended Credit Facility Effective August 2021 | Term Loan | PNC Bank                    
Debt Instrument [Line Items]                    
Original issue discount $ 200,000                  
Amended Credit Facility Effective August 2021 | Term Loan | PNC Bank | Trigger One                    
Debt Instrument [Line Items]                    
Term loan repayment, quarterly installment amount 100,000                  
Amended Credit Facility Effective August 2021 | Term Loan | PNC Bank | Trigger Two                    
Debt Instrument [Line Items]                    
Term loan repayment, quarterly installment amount 300,000                  
Amended Credit Facility Effective August 2021 | Term Loan | PNC Bank | Trigger Three                    
Debt Instrument [Line Items]                    
Term loan repayment, quarterly installment amount 500,000                  
Amended Credit Facility Effective August 2021 | Term Loan | PNC Bank | Trigger Four                    
Debt Instrument [Line Items]                    
Term loan repayment, quarterly installment amount $ 700,000                  
Credit Agreement Effective November 2016, Amended Credit Facility Effective February 2018, and Amended Credit Facility Effective December 2019 | Term Loan                    
Debt Instrument [Line Items]                    
Deferred original issue discount and loan fees     $ 300,000