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Stock-Based Compensation, Equity Compensation Plans (Details)
12 Months Ended
Dec. 31, 2020
Plan
shares
Dec. 31, 2014
shares
Dec. 09, 2020
shares
Dec. 08, 2020
shares
Mar. 31, 2019
shares
Jan. 02, 2019
shares
Dec. 31, 2018
shares
Jan. 02, 2018
shares
Jan. 02, 2017
shares
Jan. 02, 2016
shares
Stock Options [Abstract]                    
Number of equity compensation plans | Plan 3                  
The Plans [Member]                    
Stock Options [Abstract]                    
Term of plan 10 years                  
The Plans [Member] | Incentive Stock Options [Member]                    
Stock Options [Abstract]                    
Vesting period 4 years                  
The Plans [Member] | Incentive Stock Options [Member] | Maximum [Member]                    
Stock Options [Abstract]                    
Term of option 10 years                  
The Plans [Member] | Nonqualified Stock Options [Member] | Minimum [Member]                    
Stock Options [Abstract]                    
Vesting period 1 year                  
The Plans [Member] | Nonqualified Stock Options [Member] | Maximum [Member]                    
Stock Options [Abstract]                    
Vesting period 5 years                  
2014 Equity Incentive Plan [Member]                    
Stock Options [Abstract]                    
Number of shares authorized for issuance (in shares)   91,367     826,292 323,529   271,941 210,203 152,366
Percentage of Common Stock outstanding used to determine annual increase in the plan limit   4.00%                
2018 Equity Incentive Plan [Member]                    
Stock Options [Abstract]                    
Number of shares authorized for issuance (in shares)             558,071      
Shares available for grant (in shares) 190,799                  
2019 Inducement Plan [Member]                    
Stock Options [Abstract]                    
Common stock reserved for issuance (in shares)     500,000 200,000            
Shares available for grant (in shares) 421,500