Stock Option Plan - Summary of Stock Options Outstanding and Exercisable by Exercise Price (Details) - $ / shares	3 Months Ended
	Mar. 31, 2022	Mar. 31, 2021	Dec. 31, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Options Outstanding, Number Outstanding	504,559
Options Outstanding, Weighted-Average Exercise Price	$ 2.62		$ 2.51
Options Vested and Exercisable, Number Exercisable	491,908
Options Vested and Exercisable, Weighted-Average Exercise Price	$ 2.61
Exercise Price 0.16
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Exercise Price		$ 0.16
Options Outstanding, Number Outstanding	11,950
Options Outstanding, Weighted-Average Remaining Contractual Life (Years)	1 year 9 months 18 days
Options Outstanding, Weighted-Average Exercise Price	$ 0.16
Options Vested and Exercisable, Number Exercisable	11,950
Options Vested and Exercisable, Weighted-Average Exercise Price	$ 0.16
Exercise Price 0.37
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Exercise Price		0.37
Options Outstanding, Number Outstanding	23,050
Options Outstanding, Weighted-Average Remaining Contractual Life (Years)	3 years 2 months 12 days
Options Outstanding, Weighted-Average Exercise Price	$ 0.37
Options Vested and Exercisable, Number Exercisable	23,050
Options Vested and Exercisable, Weighted-Average Exercise Price	$ 0.37
Exercise Price 0.97
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Exercise Price		0.97
Options Outstanding, Number Outstanding	29,300
Options Outstanding, Weighted-Average Remaining Contractual Life (Years)	3 years 10 months 24 days
Options Outstanding, Weighted-Average Exercise Price	$ 0.97
Options Vested and Exercisable, Number Exercisable	29,300
Options Vested and Exercisable, Weighted-Average Exercise Price	$ 0.97
Exercise Price 2.51
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Exercise Price		2.51
Options Outstanding, Number Outstanding	58,780
Options Outstanding, Weighted-Average Remaining Contractual Life (Years)	4 years 4 months 24 days
Options Outstanding, Weighted-Average Exercise Price	$ 2.51
Options Vested and Exercisable, Number Exercisable	58,780
Options Vested and Exercisable, Weighted-Average Exercise Price	$ 2.51
Exercise Price 2.89
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Exercise Price		2.89
Options Outstanding, Number Outstanding	43,000
Options Outstanding, Weighted-Average Remaining Contractual Life (Years)	4 years 10 months 24 days
Options Outstanding, Weighted-Average Exercise Price	$ 2.89
Options Vested and Exercisable, Number Exercisable	43,000
Options Vested and Exercisable, Weighted-Average Exercise Price	$ 2.89
Exercise Price 2.93
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Exercise Price		2.93
Options Outstanding, Number Outstanding	255,422
Options Outstanding, Weighted-Average Remaining Contractual Life (Years)	5 years 2 months 12 days
Options Outstanding, Weighted-Average Exercise Price	$ 2.93
Options Vested and Exercisable, Number Exercisable	250,606
Options Vested and Exercisable, Weighted-Average Exercise Price	$ 2.93
Exercise Price 3.18
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Exercise Price		$ 3.18
Options Outstanding, Number Outstanding	83,057
Options Outstanding, Weighted-Average Remaining Contractual Life (Years)	5 years 3 months 18 days
Options Outstanding, Weighted-Average Exercise Price	$ 3.18
Options Vested and Exercisable, Number Exercisable	75,222
Options Vested and Exercisable, Weighted-Average Exercise Price	$ 3.18