diff --git a/cypress/integration/toolbar.spec.ts b/cypress/integration/toolbar.spec.ts
index 86da0ec12..992b29207 100644
--- a/cypress/integration/toolbar.spec.ts
+++ b/cypress/integration/toolbar.spec.ts
@@ -175,25 +175,29 @@ describe('Toolbar Buttons', () => {
 
   describe('for new tables', () => {
     beforeEach(() => {
-      cy.get('.table-picker-container').should('not.be.visible')
-      cy.getById('show-table-overlay').last().click()
-      cy.get('.table-picker-container').should('be.visible')
+      cy.getById('table-size-picker-popover').should('not.exist')
+      cy.getById('table-size-picker-button').last().click()
+      cy.getById('table-size-picker-popover').should('be.visible')
     })
 
-    it('should open an overlay', () => {
-      cy.get('.table-container > div:nth-of-type(25)').trigger('mouseover')
-      cy.get('.table-cell.bg-primary').should('have.length', 15)
-      cy.get('.table-picker-container > p').contains('5x3')
-      cy.get('.table-container > div:nth-of-type(25)').click()
+    it('should select table size', () => {
+      cy.getById('table-size-picker-popover')
+        .find('.table-container > .table-cell:nth-of-type(25)')
+        .trigger('mouseover')
+      cy.getById('table-size-picker-popover')
+        .find('.table-container > .table-cell[data-cypress-selected="true"]')
+        .should('have.length', 15)
+      cy.getById('table-size-picker-popover').find('.popover-header').contains('5x3')
+      cy.getById('table-size-picker-popover').find('.table-container > .table-cell:nth-of-type(25)').click()
     })
 
-    it('should open a modal for custom table sizes in the overlay', () => {
-      cy.get('.modal-dialog').should('not.exist')
+    it('should open a custom table size in the modal', () => {
+      cy.getById('custom-table-size-modal').should('not.exist')
       cy.getById('show-custom-table-modal').first().click()
-      cy.get('.modal-dialog').should('be.visible')
-      cy.get('.modal-content > .d-flex > input').first().type('5')
-      cy.get('.modal-content > .d-flex > input').last().type('3')
-      cy.get('.modal-footer > button').click()
+      cy.getById('custom-table-size-modal').should('be.visible')
+      cy.getById('custom-table-size-modal').find('input').first().type('5')
+      cy.getById('custom-table-size-modal').find('input').last().type('3')
+      cy.getById('custom-table-size-modal').find('.modal-footer > button').click()
     })
 
     afterEach(() => {
diff --git a/locales/en.json b/locales/en.json
index b17e954de..b0147ce88 100644
--- a/locales/en.json
+++ b/locales/en.json
@@ -309,8 +309,8 @@
             "image": "Image",
             "uploadImage": "Upload Image",
             "table": {
-                "title": "Table",
-                "size": "{{cols}}x{{rows}} Table",
+                "titleWithoutSize": "Table",
+                "titleWithSize": "{{cols}}x{{rows}} Table",
                 "customSize": "Custom Size",
                 "cols": "Cols",
                 "rows": "Rows",
diff --git a/src/components/editor-page/editor-pane/tool-bar/table-picker/custom-table-size-modal.tsx b/src/components/editor-page/editor-pane/tool-bar/table-picker/custom-table-size-modal.tsx
index ec4682ac6..999772b92 100644
--- a/src/components/editor-page/editor-pane/tool-bar/table-picker/custom-table-size-modal.tsx
+++ b/src/components/editor-page/editor-pane/tool-bar/table-picker/custom-table-size-modal.tsx
@@ -4,58 +4,79 @@
  * SPDX-License-Identifier: AGPL-3.0-only
  */
 
+import type { ChangeEvent } from 'react'
 import React, { useCallback, useEffect, useState } from 'react'
 import { Button, Form, ModalFooter } from 'react-bootstrap'
-import { useTranslation } from 'react-i18next'
+import { Trans, useTranslation } from 'react-i18next'
 import { ForkAwesomeIcon } from '../../../../common/fork-awesome/fork-awesome-icon'
 import { CommonModal } from '../../../../common/modals/common-modal'
-import type { TableSize } from './table-picker'
+import type { TableSize } from './table-size-picker-popover'
+import { cypressId } from '../../../../../utils/cypress-attribute'
 
 export interface CustomTableSizeModalProps {
   showModal: boolean
   onDismiss: () => void
-  onTablePicked: (row: number, cols: number) => void
+  onSizeSelect: (row: number, cols: number) => void
 }
 
-export const CustomTableSizeModal: React.FC<CustomTableSizeModalProps> = ({ showModal, onDismiss, onTablePicked }) => {
+const initialTableSize: TableSize = {
+  rows: 0,
+  columns: 0
+}
+
+/**
+ * A modal that lets the user select a custom table size.
+ *
+ * @param showModal defines if the modal should be visible or not
+ * @param onDismiss is called if the modal should be hidden without a selection
+ * @param onSizeSelect is called if the user entered and confirmed a custom table size
+ */
+export const CustomTableSizeModal: React.FC<CustomTableSizeModalProps> = ({ showModal, onDismiss, onSizeSelect }) => {
   const { t } = useTranslation()
-  const [tableSize, setTableSize] = useState<TableSize>({
-    rows: 0,
-    columns: 0
-  })
+  const [tableSize, setTableSize] = useState<TableSize>(() => initialTableSize)
 
   useEffect(() => {
-    setTableSize({
-      rows: 0,
-      columns: 0
-    })
+    if (showModal) {
+      setTableSize(initialTableSize)
+    }
   }, [showModal])
 
   const onClick = useCallback(() => {
-    onTablePicked(tableSize.rows, tableSize.columns)
+    onSizeSelect(tableSize.rows, tableSize.columns)
     onDismiss()
-  }, [onDismiss, tableSize, onTablePicked])
+  }, [onDismiss, tableSize, onSizeSelect])
+
+  const onColChange = useCallback((event: ChangeEvent<HTMLInputElement>) => {
+    const value = Number.parseInt(event.currentTarget.value)
+    setTableSize((old) => ({
+      rows: old.rows,
+      columns: isNaN(value) ? 0 : value
+    }))
+  }, [])
+
+  const onRowChange = useCallback((event: ChangeEvent<HTMLInputElement>) => {
+    const value = Number.parseInt(event.currentTarget.value)
+    setTableSize((old) => ({
+      rows: isNaN(value) ? 0 : value,
+      columns: old.columns
+    }))
+  }, [])
 
   return (
     <CommonModal
       show={showModal}
-      onHide={() => onDismiss()}
+      onHide={onDismiss}
       title={'editor.editorToolbar.table.customSize'}
       showCloseButton={true}
-      titleIcon={'table'}>
+      titleIcon={'table'}
+      {...cypressId('custom-table-size-modal')}>
       <div className={'col-lg-10 d-flex flex-row p-3 align-items-center'}>
         <Form.Control
           type={'number'}
           min={1}
           placeholder={t('editor.editorToolbar.table.cols')}
           isInvalid={tableSize.columns <= 0}
-          onChange={(event) => {
-            const value = Number.parseInt(event.currentTarget.value)
-            setTableSize((old) => ({
-              rows: old.rows,
-              columns: isNaN(value) ? 0 : value
-            }))
-          }}
+          onChange={onColChange}
         />
         <ForkAwesomeIcon icon='times' className='mx-2' fixedWidth={true} />
         <Form.Control
@@ -63,18 +84,12 @@ export const CustomTableSizeModal: React.FC<CustomTableSizeModalProps> = ({ show
           min={1}
           placeholder={t('editor.editorToolbar.table.rows')}
           isInvalid={tableSize.rows <= 0}
-          onChange={(event) => {
-            const value = Number.parseInt(event.currentTarget.value)
-            setTableSize((old) => ({
-              rows: isNaN(value) ? 0 : value,
-              columns: old.columns
-            }))
-          }}
+          onChange={onRowChange}
         />
       </div>
       <ModalFooter>
         <Button onClick={onClick} disabled={tableSize.rows <= 0 || tableSize.columns <= 0}>
-          {t('editor.editorToolbar.table.create')}
+          <Trans i18nKey={'editor.editorToolbar.table.create'} />
         </Button>
       </ModalFooter>
     </CommonModal>
diff --git a/src/components/editor-page/editor-pane/tool-bar/table-picker/table-picker-button.tsx b/src/components/editor-page/editor-pane/tool-bar/table-picker/table-picker-button.tsx
index 6ef7827fc..09bf2d19d 100644
--- a/src/components/editor-page/editor-pane/tool-bar/table-picker/table-picker-button.tsx
+++ b/src/components/editor-page/editor-pane/tool-bar/table-picker/table-picker-button.tsx
@@ -5,39 +5,106 @@
  */
 
 import type CodeMirror from 'codemirror'
-import React, { Fragment, useState } from 'react'
-import { Button } from 'react-bootstrap'
+import React, { Fragment, useCallback, useMemo, useRef, useState } from 'react'
+import { Button, Overlay } from 'react-bootstrap'
 import { useTranslation } from 'react-i18next'
 import { ForkAwesomeIcon } from '../../../../common/fork-awesome/fork-awesome-icon'
 import { addTable } from '../utils/toolbarButtonUtils'
-import { TablePicker } from './table-picker'
 import { cypressId } from '../../../../../utils/cypress-attribute'
+import { TableSizePickerPopover } from './table-size-picker-popover'
+import { CustomTableSizeModal } from './custom-table-size-modal'
+import type { OverlayInjectedProps } from 'react-bootstrap/Overlay'
+import { ShowIf } from '../../../../common/show-if/show-if'
 
 export interface TablePickerButtonProps {
   editor: CodeMirror.Editor
 }
 
+enum PickerMode {
+  INVISIBLE,
+  GRID,
+  CUSTOM
+}
+
+/**
+ * Toggles the visibility of a {@link TableSizePicker table size picker overlay} and inserts the result into the editor.
+ *
+ * @param editor The editor in which the result should get inserted
+ */
 export const TablePickerButton: React.FC<TablePickerButtonProps> = ({ editor }) => {
   const { t } = useTranslation()
-  const [showTablePicker, setShowTablePicker] = useState(false)
+  const [pickerMode, setPickerMode] = useState<PickerMode>(PickerMode.INVISIBLE)
+  const onDismiss = useCallback(() => setPickerMode(PickerMode.INVISIBLE), [])
+  const onShowModal = useCallback(() => setPickerMode(PickerMode.CUSTOM), [])
+
+  const onSizeSelect = useCallback(
+    (rows: number, columns: number) => {
+      addTable(editor, rows, columns)
+      setPickerMode(PickerMode.INVISIBLE)
+    },
+    [editor]
+  )
+
+  const tableTitle = useMemo(() => t('editor.editorToolbar.table.title'), [t])
+
+  const button = useRef(null)
+
+  const toggleOverlayVisibility = useCallback(
+    () =>
+      setPickerMode((oldPickerMode) =>
+        oldPickerMode === PickerMode.INVISIBLE ? PickerMode.GRID : PickerMode.INVISIBLE
+      ),
+    []
+  )
+
+  const onOverlayHide = useCallback(() => {
+    setPickerMode((oldMode) => {
+      if (oldMode === PickerMode.CUSTOM) {
+        return PickerMode.CUSTOM
+      } else {
+        return PickerMode.INVISIBLE
+      }
+    })
+  }, [])
+
+  const createPopoverElement = useCallback<(props: OverlayInjectedProps) => React.ReactElement>(
+    ({ ref, ...popoverProps }) => (
+      <TableSizePickerPopover
+        onTableSizeSelected={onSizeSelect}
+        onShowCustomSizeModal={onShowModal}
+        onDismiss={onDismiss}
+        onRefUpdate={ref}
+        {...popoverProps}
+      />
+    ),
+    [onDismiss, onShowModal, onSizeSelect]
+  )
 
   return (
     <Fragment>
-      <TablePicker
-        show={showTablePicker}
-        onDismiss={() => setShowTablePicker(false)}
-        onTablePicked={(rows, cols) => {
-          setShowTablePicker(false)
-          addTable(editor, rows, cols)
-        }}
-      />
       <Button
-        {...cypressId('show-table-overlay')}
+        {...cypressId('table-size-picker-button')}
         variant='light'
-        onClick={() => setShowTablePicker((old) => !old)}
-        title={t('editor.editorToolbar.table.title')}>
+        onClick={toggleOverlayVisibility}
+        title={tableTitle}
+        ref={button}>
         <ForkAwesomeIcon icon='table' />
       </Button>
+      <Overlay
+        target={button.current}
+        onHide={onOverlayHide}
+        show={pickerMode === PickerMode.GRID}
+        placement={'bottom'}
+        rootClose={true}>
+        {createPopoverElement}
+      </Overlay>
+      <ShowIf condition={pickerMode === PickerMode.CUSTOM}>
+        <CustomTableSizeModal
+          showModal={pickerMode === PickerMode.CUSTOM}
+          onDismiss={onDismiss}
+          onSizeSelect={onSizeSelect}
+        />
+      </ShowIf>
     </Fragment>
   )
 }
diff --git a/src/components/editor-page/editor-pane/tool-bar/table-picker/table-picker.scss b/src/components/editor-page/editor-pane/tool-bar/table-picker/table-picker.scss
index 16811cf3c..c86469259 100644
--- a/src/components/editor-page/editor-pane/tool-bar/table-picker/table-picker.scss
+++ b/src/components/editor-page/editor-pane/tool-bar/table-picker/table-picker.scss
@@ -6,10 +6,10 @@
 
 
 .table-picker-container {
-  z-index: 1111;
-
   @import "../../../../../style/variables.light";
 
+  z-index: 1111;
+
   .table-cell {
     border: 1px solid $gray-700;
     margin: 1px;
diff --git a/src/components/editor-page/editor-pane/tool-bar/table-picker/table-picker.tsx b/src/components/editor-page/editor-pane/tool-bar/table-picker/table-picker.tsx
deleted file mode 100644
index 0fe8e4e4c..000000000
--- a/src/components/editor-page/editor-pane/tool-bar/table-picker/table-picker.tsx
+++ /dev/null
@@ -1,91 +0,0 @@
-/*
- * SPDX-FileCopyrightText: 2021 The HedgeDoc developers (see AUTHORS file)
- *
- * SPDX-License-Identifier: AGPL-3.0-only
- */
-
-import React, { useCallback, useEffect, useRef, useState } from 'react'
-import { Button } from 'react-bootstrap'
-import { useTranslation } from 'react-i18next'
-import { useClickAway } from 'react-use'
-import { ForkAwesomeIcon } from '../../../../common/fork-awesome/fork-awesome-icon'
-import { createNumberRangeArray } from '../../../../common/number-range/number-range'
-import { CustomTableSizeModal } from './custom-table-size-modal'
-import './table-picker.scss'
-import { cypressId } from '../../../../../utils/cypress-attribute'
-
-export interface TablePickerProps {
-  show: boolean
-  onDismiss: () => void
-  onTablePicked: (row: number, cols: number) => void
-}
-
-export type TableSize = {
-  rows: number
-  columns: number
-}
-
-export const TablePicker: React.FC<TablePickerProps> = ({ show, onDismiss, onTablePicked }) => {
-  const { t } = useTranslation()
-  const containerRef = useRef<HTMLDivElement>(null)
-  const [tableSize, setTableSize] = useState<TableSize>()
-  const [showDialog, setShowDialog] = useState(false)
-
-  useClickAway(containerRef, () => {
-    onDismiss()
-  })
-
-  useEffect(() => {
-    setTableSize(undefined)
-  }, [show])
-
-  const onClick = useCallback(() => {
-    if (tableSize) {
-      onTablePicked(tableSize.rows, tableSize.columns)
-    }
-  }, [onTablePicked, tableSize])
-
-  return (
-    <div
-      className={`position-absolute table-picker-container p-2 ${!show || showDialog ? 'd-none' : ''} bg-light`}
-      ref={containerRef}
-      role='grid'>
-      <p className={'lead'}>
-        {tableSize
-          ? t('editor.editorToolbar.table.size', { cols: tableSize?.columns, rows: tableSize.rows })
-          : t('editor.editorToolbar.table.title')}
-      </p>
-      <div className={'table-container'}>
-        {createNumberRangeArray(8).map((row: number) =>
-          createNumberRangeArray(10).map((col: number) => (
-            <div
-              key={`${row}_${col}`}
-              className={`table-cell ${
-                tableSize && row < tableSize.rows && col < tableSize.columns ? 'bg-primary border-primary' : ''
-              }`}
-              onMouseEnter={() => {
-                setTableSize({
-                  rows: row + 1,
-                  columns: col + 1
-                })
-              }}
-              title={t('editor.editorToolbar.table.size', { cols: col + 1, rows: row + 1 })}
-              onClick={onClick}
-            />
-          ))
-        )}
-      </div>
-      <div className='d-flex justify-content-center mt-2'>
-        <Button {...cypressId('show-custom-table-modal')} className={'text-center'} onClick={() => setShowDialog(true)}>
-          <ForkAwesomeIcon icon='table' />
-          &nbsp;{t('editor.editorToolbar.table.customSize')}
-        </Button>
-        <CustomTableSizeModal
-          showModal={showDialog}
-          onDismiss={() => setShowDialog(false)}
-          onTablePicked={onTablePicked}
-        />
-      </div>
-    </div>
-  )
-}
diff --git a/src/components/editor-page/editor-pane/tool-bar/table-picker/table-size-picker-popover.tsx b/src/components/editor-page/editor-pane/tool-bar/table-picker/table-size-picker-popover.tsx
new file mode 100644
index 000000000..063e8495f
--- /dev/null
+++ b/src/components/editor-page/editor-pane/tool-bar/table-picker/table-size-picker-popover.tsx
@@ -0,0 +1,97 @@
+/*
+ * SPDX-FileCopyrightText: 2021 The HedgeDoc developers (see AUTHORS file)
+ *
+ * SPDX-License-Identifier: AGPL-3.0-only
+ */
+
+import React, { useCallback, useMemo, useRef, useState } from 'react'
+import { createNumberRangeArray } from '../../../../common/number-range/number-range'
+import { Button, Popover } from 'react-bootstrap'
+import { TableSizeText } from './table-size-text'
+import { Trans, useTranslation } from 'react-i18next'
+import { cypressAttribute, cypressId } from '../../../../../utils/cypress-attribute'
+import { ForkAwesomeIcon } from '../../../../common/fork-awesome/fork-awesome-icon'
+import type { PopoverProps } from 'react-bootstrap/Popover'
+import { useOnRefChange } from '../../../../markdown-renderer/hooks/use-on-ref-change'
+import './table-picker.scss'
+
+export interface TableSizePickerPopoverProps extends Omit<PopoverProps, 'id'> {
+  onShowCustomSizeModal: () => void
+  onTableSizeSelected: (rows: number, cols: number) => void
+  onDismiss: () => void
+  onRefUpdate: (newRef: HTMLDivElement | null) => void
+}
+
+export interface TableSize {
+  rows: number
+  columns: number
+}
+
+export const TableSizePickerPopover: React.FC<TableSizePickerPopoverProps> = ({
+  onShowCustomSizeModal,
+  onTableSizeSelected,
+  onDismiss,
+  onRefUpdate,
+  ...props
+}) => {
+  const { t } = useTranslation()
+  const [tableSize, setTableSize] = useState<TableSize>()
+
+  const onSizeHover = useCallback(
+    (selectedRows: number, selectedCols: number) => () => {
+      setTableSize({
+        rows: selectedRows,
+        columns: selectedCols
+      })
+    },
+    []
+  )
+
+  const tableContainer = useMemo(
+    () =>
+      createNumberRangeArray(8).map((row: number) =>
+        createNumberRangeArray(10).map((col: number) => {
+          const selected = tableSize && row < tableSize.rows && col < tableSize.columns
+          return (
+            <div
+              key={`${row}_${col}`}
+              className={`table-cell ${selected ? 'bg-primary border-primary' : ''}`}
+              {...cypressAttribute('selected', selected ? 'true' : 'false')}
+              onMouseEnter={onSizeHover(row + 1, col + 1)}
+              title={t('editor.editorToolbar.table.size', { cols: col + 1, rows: row + 1 })}
+              onClick={() => onTableSizeSelected(row + 1, col + 1)}
+            />
+          )
+        })
+      ),
+    [onTableSizeSelected, onSizeHover, t, tableSize]
+  )
+
+  const popoverRef = useRef<HTMLDivElement | null>(null)
+  useOnRefChange(popoverRef, (newRef) => onRefUpdate(newRef))
+
+  return (
+    <Popover
+      {...props}
+      ref={popoverRef}
+      id={'table-picker'}
+      {...cypressId('table-size-picker-popover')}
+      className={`table-picker-container bg-light`}>
+      <Popover.Title>
+        <TableSizeText tableSize={tableSize} />
+      </Popover.Title>
+      <Popover.Content>
+        <div className={'table-container'} role='grid'>
+          {tableContainer}
+        </div>
+        <div className='d-flex justify-content-center mt-2'>
+          <Button {...cypressId('show-custom-table-modal')} className={'text-center'} onClick={onShowCustomSizeModal}>
+            <ForkAwesomeIcon icon='table' />
+            &nbsp;
+            <Trans i18nKey={'editor.editorToolbar.table.customSize'} />
+          </Button>
+        </div>
+      </Popover.Content>
+    </Popover>
+  )
+}
diff --git a/src/components/editor-page/editor-pane/tool-bar/table-picker/table-size-text.tsx b/src/components/editor-page/editor-pane/tool-bar/table-picker/table-size-text.tsx
new file mode 100644
index 000000000..be572876a
--- /dev/null
+++ b/src/components/editor-page/editor-pane/tool-bar/table-picker/table-size-text.tsx
@@ -0,0 +1,32 @@
+/*
+ * SPDX-FileCopyrightText: 2021 The HedgeDoc developers (see AUTHORS file)
+ *
+ * SPDX-License-Identifier: AGPL-3.0-only
+ */
+
+import React, { useMemo } from 'react'
+import { Trans, useTranslation } from 'react-i18next'
+import type { TableSize } from './table-size-picker-popover'
+
+export interface TableSizeProps {
+  tableSize?: TableSize
+}
+
+/**
+ * Renders an info text that contains the given {@link TableSize table size}.
+ *
+ * @param tableSize The table size that should be included
+ */
+export const TableSizeText: React.FC<TableSizeProps> = ({ tableSize }) => {
+  useTranslation()
+
+  const translationValues = useMemo(() => {
+    return tableSize ? { cols: tableSize.columns, rows: tableSize.rows } : undefined
+  }, [tableSize])
+
+  if (!translationValues) {
+    return <Trans i18nKey={'editor.editorToolbar.table.titleWithoutSize'} />
+  } else {
+    return <Trans i18nKey={'editor.editorToolbar.table.titleWithSize'} values={translationValues} />
+  }
+}
diff --git a/src/components/markdown-renderer/hooks/use-on-ref-change.ts b/src/components/markdown-renderer/hooks/use-on-ref-change.ts
index ef8f0975d..f6495bf35 100644
--- a/src/components/markdown-renderer/hooks/use-on-ref-change.ts
+++ b/src/components/markdown-renderer/hooks/use-on-ref-change.ts
@@ -8,11 +8,8 @@ import equal from 'fast-deep-equal'
 import type { MutableRefObject } from 'react'
 import { useEffect, useRef } from 'react'
 
-export const useOnRefChange = <T>(
-  reference: MutableRefObject<T | undefined>,
-  onChange?: (newValue?: T) => void
-): void => {
-  const lastValue = useRef<T | undefined>()
+export const useOnRefChange = <T>(reference: MutableRefObject<T>, onChange?: (newValue: T) => void): void => {
+  const lastValue = useRef<T>()
   useEffect(() => {
     if (onChange && !equal(reference, lastValue.current)) {
       lastValue.current = reference.current