Equity Incentive Plans, Options Outstanding and Vested and Currently Exercisable by Exercise Prices (Details) - $ / shares	9 Months Ended
	Sep. 30, 2021	Dec. 31, 2020
Option outstanding [Abstract]
Option outstanding, exercise price (in dollars per share)	$ 3.58	$ 3.60
Option outstanding, outstanding (in shares)	696,163	743,627
Option outstanding, weighted average remaining life years	5 years 7 months 17 days
Options vested and exercisable [Abstract]
Options vested and exercisable, Number of option vested (in shares)	507,969
Options vested and exercisable, Weighted average remaining life years	5 years 6 months 25 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 5 months 15 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 5 months 15 days
$3.24 [Member]
Option outstanding [Abstract]
Option outstanding, exercise price (in dollars per share)	$ 3.24
Option outstanding, outstanding (in shares)	284,282
Option outstanding, weighted average remaining life years	5 years 9 months
Options vested and exercisable [Abstract]
Options vested and exercisable, Number of option vested (in shares)	284,282
Options vested and exercisable, Exercise price (in dollars per share)	$ 3.24
Options vested and exercisable, Weighted average remaining life years	5 years 9 months
$3.96 [Member]
Option outstanding [Abstract]
Option outstanding, exercise price (in dollars per share)	$ 3.96
Option outstanding, outstanding (in shares)	67,422
Option outstanding, weighted average remaining life years	6 years 5 months 15 days
Options vested and exercisable [Abstract]
Options vested and exercisable, Number of option vested (in shares)	54,645
Options vested and exercisable, Exercise price (in dollars per share)	$ 3.96
Options vested and exercisable, Weighted average remaining life years	6 years 5 months 12 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 1 month 13 days
Options vested and exercisable [Abstract]
Options vested and exercisable, Number of option vested (in shares)	834
Options vested and exercisable, Exercise price (in dollars per share)	$ 4.50
Options vested and exercisable, Weighted average remaining life years	7 years 1 month 13 days
$4.95 [Member]
Option outstanding [Abstract]
Option outstanding, exercise price (in dollars per share)	$ 4.95
Option outstanding, outstanding (in shares)	44,445
Option outstanding, weighted average remaining life years	7 years 5 months 26 days
Options vested and exercisable [Abstract]
Options vested and exercisable, Number of option vested (in shares)	22,223
Options vested and exercisable, Exercise price (in dollars per share)	$ 4.95
Options vested and exercisable, Weighted average remaining life years	7 years 5 months 26 days
$6.12 [Member]
Option outstanding [Abstract]
Option outstanding, exercise price (in dollars per share)	$ 6.12
Option outstanding, outstanding (in shares)	58,342
Option outstanding, weighted average remaining life years	8 years 2 months 12 days
Options vested and exercisable [Abstract]
Options vested and exercisable, Number of option vested (in shares)	17,091
Options vested and exercisable, Exercise price (in dollars per share)	$ 6.12
Options vested and exercisable, Weighted average remaining life years	8 years 2 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	9 months 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	9 months 25 days