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Stockholders' Equity - Options Outstanding Separated Into Range of Exercise Price (Details) - $ / shares
9 Months Ended 12 Months Ended
Sep. 30, 2021
Dec. 31, 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Options outstanding (in shares) 832,538 1,022,763
Options outstanding, weighted average remaining contractual life (Year) 2 years 11 months 4 days 3 years 5 months 12 days
Weighted average exercise price of options outstanding (in dollars per share) $ 6.979 $ 6.862
Options exercisable (in shares) 814,082  
Options exercisable, weighted average remaining contractual life (years) 2 years 9 months 21 days  
Weighted average exercise price of options exercisable (in dollars per share) $ 7.009  
Range One    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Weighted average exercise price (in dollars per share) $ 2.933  
Options outstanding, exercise price range (in shares) 22,068  
Options outstanding, weighted average remaining contractual life, exercise price range (Year) 4 months 28 days  
Options exercisable, exercise price range (in shares) 22,068  
Options exercisable, weighted average remaining contractual life, exercise price range (years) 4 months 28 days  
Weighted average exercise price of options exercisable, exercise price range (in dollars per share) $ 2.933  
Range Two    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Lower range of exercise price (in dollars per share) 4.157  
Weighted average exercise price (in dollars per share) 4.883  
Upper range of exercise price (in dollars per share) $ 5.682  
Options outstanding, exercise price range (in shares) 224,661  
Options outstanding, weighted average remaining contractual life, exercise price range (Year) 3 years 2 months 15 days  
Options exercisable, exercise price range (in shares) 206,205  
Options exercisable, weighted average remaining contractual life, exercise price range (years) 2 years 9 months  
Weighted average exercise price of options exercisable, exercise price range (in dollars per share) $ 4.796  
Range Three    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Lower range of exercise price (in dollars per share) 6.503  
Weighted average exercise price (in dollars per share) 7.113  
Upper range of exercise price (in dollars per share) $ 8.077  
Options outstanding, exercise price range (in shares) 438,407  
Options outstanding, weighted average remaining contractual life, exercise price range (Year) 2 years 9 months 21 days  
Options exercisable, exercise price range (in shares) 438,407  
Options exercisable, weighted average remaining contractual life, exercise price range (years) 2 years 9 months 21 days  
Weighted average exercise price of options exercisable, exercise price range (in dollars per share) $ 7.113  
Range Four    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Weighted average exercise price (in dollars per share) $ 9.960  
Options outstanding, exercise price range (in shares) 120,180  
Options outstanding, weighted average remaining contractual life, exercise price range (Year) 3 years 4 months 24 days  
Options exercisable, exercise price range (in shares) 120,180  
Options exercisable, weighted average remaining contractual life, exercise price range (years) 3 years 4 months 24 days  
Weighted average exercise price of options exercisable, exercise price range (in dollars per share) $ 9.960  
Range Five    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Weighted average exercise price (in dollars per share) $ 13.287  
Options outstanding, exercise price range (in shares) 27,222  
Options outstanding, weighted average remaining contractual life, exercise price range (Year) 2 years 5 months 19 days  
Options exercisable, exercise price range (in shares) 27,222  
Options exercisable, weighted average remaining contractual life, exercise price range (years) 2 years 5 months 19 days  
Weighted average exercise price of options exercisable, exercise price range (in dollars per share) $ 13.287