Equity Incentive Plans, Options Outstanding and Vested and Currently Exercisable by Exercise Prices (Details) - $ / shares	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Option outstanding [Abstract]
Option outstanding, exercise price (in dollars per share)	$ 3.58	$ 3.60	$ 3.69
Option outstanding, outstanding ( in shares)	689,995	743,627	983,889
Option outstanding, weighted average remaining life years	5 years 4 months 13 days
Options vested and exercisable [Abstract]
Options vested and exercisable, Number of option vested (in shares)	515,834
Options vested and exercisable, Weighted average remaining life years	5 years 4 months 17 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 2 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 2 months 15 days
$3.24 [Member]
Option outstanding [Abstract]
Option outstanding, exercise price (in dollars per share)	$ 3.24
Option outstanding, outstanding ( in shares)	279,837
Option outstanding, weighted average remaining life years	5 years 6 months
Options vested and exercisable [Abstract]
Options vested and exercisable, Number of option vested (in shares)	279,837
Options vested and exercisable, Exercise price (in dollars per share)	$ 3.24
Options vested and exercisable, Weighted average remaining life years	5 years 6 months
$3.96 [Member]
Option outstanding [Abstract]
Option outstanding, exercise price (in dollars per share)	$ 3.96
Option outstanding, outstanding ( in shares)	66,949
Option outstanding, weighted average remaining life years	6 years 2 months 15 days
Options vested and exercisable [Abstract]
Options vested and exercisable, Number of option vested (in shares)	55,283
Options vested and exercisable, Exercise price (in dollars per share)	$ 3.96
Options vested and exercisable, Weighted average remaining life years	6 years 2 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	6 years 10 months 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	6 years 10 months 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 2 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 2 months 26 days
$6.12 [Member]
Option outstanding [Abstract]
Option outstanding, exercise price (in dollars per share)	$ 6.12
Option outstanding, outstanding ( in shares)	57,092
Option outstanding, weighted average remaining life years	7 years 11 months 12 days
Options vested and exercisable [Abstract]
Options vested and exercisable, Number of option vested (in shares)	28,763
Options vested and exercisable, Exercise price (in dollars per share)	$ 6.12
Options vested and exercisable, Weighted average remaining life years	7 years 11 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	6 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	6 months 25 days