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Warrants - Summary (Details) - $ / shares
3 Months Ended 9 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Sep. 30, 2021
Sep. 30, 2020
Class of Warrant or Right [Line Items]        
Number of warrants outstanding (shares) 7,605,811   7,605,811  
Warrants exercised via cashless exercises (shares) 0 0 623,821 600,006
Common stock issued from exercise of warrants (shares)     623,814 600,000
January 11, 2017 Warrants        
Class of Warrant or Right [Line Items]        
Exercise price of warrants (USD per share) $ 0.001   $ 0.001  
Number of warrants outstanding (shares) 3,578,036   3,578,036  
November 20, 2017 Warrants        
Class of Warrant or Right [Line Items]        
Exercise price of warrants (USD per share) $ 0.001   $ 0.001  
Number of warrants outstanding (shares) 3,669,360   3,669,360  
June 11, 2018 Warrants        
Class of Warrant or Right [Line Items]        
Exercise price of warrants (USD per share) $ 0.001   $ 0.001  
Number of warrants outstanding (shares) 358,415   358,415