Equity Incentive Plans, Options Outstanding and Vested and Currently Exercisable by Exercise Prices (Details) - $ / shares	6 Months Ended
	Jun. 30, 2021	Dec. 31, 2020
Option outstanding [Abstract]
Option outstanding, exercise price (in dollars per share)	$ 3.59	$ 3.60
Option outstanding, outstanding ( in shares)	699,636	743,627
Option outstanding, weighted average remaining life years	5 years 10 months 20 days
Options vested and exercisable [Abstract]
Options vested and exercisable, Number of option vested (in shares)	497,272
Options vested and exercisable, Weighted average remaining life years	5 years 9 months 18 days
$1.71 [Member]
Option outstanding [Abstract]
Option outstanding, exercise price (in dollars per share)	$ 1.71
Option outstanding, outstanding ( in shares)	227,780
Option outstanding, weighted average remaining life years	4 years 8 months 19 days
Options vested and exercisable [Abstract]
Options vested and exercisable, Number of option vested (in shares)	116,669
Options vested and exercisable, Exercise price (in dollars per share)	$ 1.71
Options vested and exercisable, Weighted average remaining life years	4 years 8 months 19 days
$3.24 [Member]
Option outstanding [Abstract]
Option outstanding, exercise price (in dollars per share)	$ 3.24
Option outstanding, outstanding ( in shares)	284,283
Option outstanding, weighted average remaining life years	6 years
Options vested and exercisable [Abstract]
Options vested and exercisable, Number of option vested (in shares)	283,866
Options vested and exercisable, Exercise price (in dollars per share)	$ 3.24
Options vested and exercisable, Weighted average remaining life years	6 years
$3.96 [Member]
Option outstanding [Abstract]
Option outstanding, exercise price (in dollars per share)	$ 3.96
Option outstanding, outstanding ( in shares)	67,838
Option outstanding, weighted average remaining life years	6 years 8 months 15 days
Options vested and exercisable [Abstract]
Options vested and exercisable, Number of option vested (in shares)	45,892
Options vested and exercisable, Exercise price (in dollars per share)	$ 3.96
Options vested and exercisable, Weighted average remaining life years	6 years 8 months 15 days
$4.50 [Member]
Option outstanding [Abstract]
Option outstanding, exercise price (in dollars per share)	$ 4.50
Option outstanding, outstanding ( in shares)	1,667
Option outstanding, weighted average remaining life years	7 years 4 months 17 days
Options vested and exercisable [Abstract]
Options vested and exercisable, Number of option vested (in shares)	0
Options vested and exercisable, Exercise price (in dollars per share)	$ 0
$4.95 [Member]
Option outstanding [Abstract]
Option outstanding, exercise price (in dollars per share)	$ 4.95
Option outstanding, outstanding ( in shares)	45,834
Option outstanding, weighted average remaining life years	7 years 8 months 26 days
Options vested and exercisable [Abstract]
Options vested and exercisable, Number of option vested (in shares)	23,612
Options vested and exercisable, Exercise price (in dollars per share)	$ 4.95
Options vested and exercisable, Weighted average remaining life years	7 years 8 months 26 days
$6.12 [Member]
Option outstanding [Abstract]
Option outstanding, exercise price (in dollars per share)	$ 6.12
Option outstanding, outstanding ( in shares)	60,009
Option outstanding, weighted average remaining life years	8 years 5 months 12 days
Options vested and exercisable [Abstract]
Options vested and exercisable, Number of option vested (in shares)	15,008
Options vested and exercisable, Exercise price (in dollars per share)	$ 6.12
Options vested and exercisable, Weighted average remaining life years	8 years 5 months 12 days
$27.00 [Member]
Option outstanding [Abstract]
Option outstanding, exercise price (in dollars per share)	$ 27.00
Option outstanding, outstanding ( in shares)	12,225
Option outstanding, weighted average remaining life years	1 year 25 days
Options vested and exercisable [Abstract]
Options vested and exercisable, Number of option vested (in shares)	12,225
Options vested and exercisable, Exercise price (in dollars per share)	$ 27.00
Options vested and exercisable, Weighted average remaining life years	1 year 25 days