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Equity Incentive Plans and Stock-Based Compensation - Summary of Restricted Stock Activity (Details) - Restricted stock awards - $ / shares
6 Months Ended
Jun. 30, 2021
Jun. 30, 2020
Number of Shares    
Outstanding and unvested, beginning balance (in shares) 126,522  
Issued (in shares) 0 0
Vested (in shares) (60,413)  
Repurchases (in shares) (63)  
Outstanding and unvested, ending balance (in shares) 66,046  
Weighted- Average Grant Date fair value    
Outstanding and unvested, beginning balance (USD per share) $ 1.85  
Issued (USD per share) 0  
Vested (USD per share) 1.69  
Repurchases (USD per share) 2.15  
Outstanding and unvested, ending balance (USD per share) $ 1.99