Stock Options, Stock Option Activity under 2014 Plan and 2020 Plan (Details) - Plan 2014 and Plan 2020 [Member] - Stock Options [Member] - USD ($)	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Number of Shares [Roll Forward]
Outstanding, beginning balance (in shares)	407,028	167,750
Granted (in shares)	175,246	288,001
Canceled (in shares)	(143,082)	(48,723)
Outstanding, ending balance (in shares)	439,192	407,028	167,750
Exercisable (in shares)	281,418	132,963
Average Exercise Price [Abstract]
Outstanding, beginning balance (in dollars per share)	$ 13.80	$ 21.70
Granted (in dollars per share)	8.61	8.90
Canceled (in dollars per share)	10.47	27.70
Outstanding, ending balance (in dollars per share)	11.58	13.80	$ 21.70
Exercisable (in dollars per share)	$ 13.41	$ 17.80
Remaining Contract Life [Abstract]
Outstanding	7 years 3 months 10 days	7 years 11 months 8 days	5 years 4 months 13 days
Granted	8 years 3 months 25 days	9 years 21 days
Canceled	2 years 10 months 13 days
Exercisable	6 years 6 months 18 days	6 years 8 months 1 day
Intrinsic Value [Roll Forward]
Outstanding, beginning balance	$ 0	$ 0
Granted	0	0
Canceled	0	0
Stock options outstanding, ending balance	0	0	$ 0
Exercisable, intrinsic value	$ 0	$ 0
Number of Shares [Roll Forward]
Non-vested, outstanding, beginning balance (in shares)	274,065	88,350
Granted (in shares)	175,246	288,001
Vested (in shares)	(186,862)	(84,063)
Canceled (in shares)	(104,521)	(18,223)
Non-vested, outstanding, ending balance (in shares)	157,928	274,065	88,350
Average Exercise Price [Abstract]
Non-vested, outstanding, beginning balance (in dollars per share)	$ 9.90	$ 13.30
Granted (in dollars per share)	8.61	8.90
Vested (in dollars per share)	10.41	9.80
Canceled (in dollars per share)	9.84	17.50
Non-vested, outstanding, ending balance (in dollars per share)	$ 8.32	$ 9.90	$ 13.30
Nonvested, Remaining Contract Life [Abstract]
Non-vested, outstanding	8 years 6 months 29 days	8 years 5 months 1 day	6 years 3 months 3 days
Granted	8 years 3 months 25 days	9 years 21 days
Non-vested, Intrinsic Value [Roll Forward]
Non-vested, outstanding, beginning balance	$ 0	$ 0
Granted	0	0
Vested	0	0
Forfeited	0	0
Non-vested, outstanding, ending balance	$ 0	$ 0	$ 0