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Summary of Option and Stock Appreciation Rights Outstanding by Range of Exercise Price (Details) - Stock Option and Stock Appreciation Rights (SARs) [Member]
12 Months Ended
Dec. 31, 2020
$ / shares
shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]  
Options Outstanding | shares 2,456,979
Weighted Average Remaining Life 7 years 11 months 19 days
Weighted Average Exercise Price $ 2.90
Number of Options Currently Exercisable | shares 901,549
Weighted Average Exercise Price per Vested Share $ 2.21
Range of Exercise Prices One [Member]  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]  
Share-based Payment Arrangement, Option, Exercise Price Range, Lower Range Limit 0.00
Share-based Payment Arrangement, Option, Exercise Price Range, Upper Range Limit $ 1.00
Options Outstanding | shares 568,877
Weighted Average Remaining Life 7 years 2 months 1 day
Weighted Average Exercise Price $ 0.74
Number of Options Currently Exercisable | shares 373,065
Weighted Average Exercise Price per Vested Share $ 0.74
Range of Exercise Prices Two [Member]  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]  
Share-based Payment Arrangement, Option, Exercise Price Range, Lower Range Limit 1.01
Share-based Payment Arrangement, Option, Exercise Price Range, Upper Range Limit $ 2.00
Options Outstanding | shares 64,333
Weighted Average Remaining Life 4 years 8 months 26 days
Weighted Average Exercise Price $ 1.71
Number of Options Currently Exercisable | shares 57,642
Weighted Average Exercise Price per Vested Share $ 1.79
Range of Exercise Prices Three [Member]  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]  
Share-based Payment Arrangement, Option, Exercise Price Range, Lower Range Limit 2.01
Share-based Payment Arrangement, Option, Exercise Price Range, Upper Range Limit $ 4.00
Options Outstanding | shares 883,374
Weighted Average Remaining Life 7 years 11 months 4 days
Weighted Average Exercise Price $ 2.11
Number of Options Currently Exercisable | shares 398,197
Weighted Average Exercise Price per Vested Share $ 2.06
Range of Exercise Prices Four [Member]  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]  
Share-based Payment Arrangement, Option, Exercise Price Range, Lower Range Limit 4.01
Share-based Payment Arrangement, Option, Exercise Price Range, Upper Range Limit $ 10.00
Options Outstanding | shares 923,500
Weighted Average Remaining Life 8 years 10 months 13 days
Weighted Average Exercise Price $ 4.50
Number of Options Currently Exercisable | shares 55,750
Weighted Average Exercise Price per Vested Share $ 4.09
Range of Exercise Prices Five [Member]  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]  
Share-based Payment Arrangement, Option, Exercise Price Range, Lower Range Limit 10.01
Share-based Payment Arrangement, Option, Exercise Price Range, Upper Range Limit $ 20.00
Options Outstanding | shares
Weighted Average Remaining Life 0 years
Weighted Average Exercise Price
Number of Options Currently Exercisable | shares
Weighted Average Exercise Price per Vested Share
Range of Exercise Prices Six [Member]  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]  
Share-based Payment Arrangement, Option, Exercise Price Range, Lower Range Limit 30.01
Share-based Payment Arrangement, Option, Exercise Price Range, Upper Range Limit $ 40.00
Options Outstanding | shares 16,895
Weighted Average Remaining Life 3 months 7 days
Weighted Average Exercise Price $ 33.65
Number of Options Currently Exercisable | shares 16,895
Weighted Average Exercise Price per Vested Share $ 33.65