Equity Incentive Plans, Stock Option Plan, Activity (Details)	9 Months Ended
	Sep. 30, 2021 USD ($) $ / shares shares
Number of Options [Roll Forward]
Beginning balance (in shares) | shares	743,627
Granted (in shares) | shares	0
Exercised (in shares) | shares	(40,253)
Cancelled (in shares) | shares	(7,211)
Ending balance (in shares) | shares	696,163
Weighted Average Exercise Price [Abstract]
Beginning balance (in dollars per share) | $ / shares	$ 3.60
Granted (in dollars per share) | $ / shares	0
Exercised (in dollars per share) | $ / shares	2.79
Forfeited (in dollars per share) | $ / shares	7.07
Ending balance (in dollars per share) | $ / shares	$ 3.58
Intrinsic value of options exercised | $	$ 145,053