Equity Incentive Plans - Restricted Stock Option Activity (Details) - Restricted Stock Options	6 Months Ended
	Jun. 30, 2021 $ / shares shares
Number of Shares
Beginning balance (in shares) | shares	775,641
Granted (in shares) | shares	10,728
Repurchased (in shares) | shares	(19,728)
Vested (in shares) | shares	(340,196)
Ending balance (in shares) | shares	426,445
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	1.14
Vested (in usd per share) | $ / shares	1.62
Ending balance (in usd per share) | $ / shares	$ 1.92