Equity Incentive Plans, Stock Option Plan Activity (Details) - USD ($)	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020
Number of Options [Roll Forward]
Beginning balance (in shares)	743,627	983,889
Granted (in shares)	0	0
Exercised (in shares)	(44,698)	(53,056)
Expired (in shares)	(556)	0
Forfeited (in shares)	(8,378)	(187,206)
Ending balance (in shares)	689,995	743,627
Weighted Average Exercise Price [Abstract]
Beginning balance (in dollars per share)	$ 3.60	$ 3.69
Granted (in dollars per share)	0	0
Exercised (in dollars per share)	2.83	2.88
Expired (in dollars per share)	27.00	0
Forfeited (in dollars per share)	5.43	4.23
Ending balance (in dollars per share)	$ 3.58	$ 3.60
Intrinsic value of options exercised	$ 159,062	$ 181,700