Equity Incentive Plans - Restricted Stock Option Activity (Details) - Restricted Stock Options	3 Months Ended
	Mar. 31, 2021 $ / shares shares
Number of Shares
Beginning balance (in shares) | shares	775,641
Granted (in shares) | shares	10,728
Repurchased (in shares) | shares	(876)
Vested (in shares) | shares	(133,075)
Ending balance (in shares) | shares	652,418
Weighted-Average Grant Date Fair Value
Beginning balance (in usd per share) | $ / shares	$ 1.77
Granted (in usd per share) | $ / shares	1.66
Repurchased (in usd per share) | $ / shares	1.55
Vested (in usd per share) | $ / shares	2.07
Ending balance (in usd per share) | $ / shares	$ 1.71