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Stock Options and Warrants - Summary of Stock Option Activity (Details) - $ / shares
9 Months Ended 12 Months Ended
Sep. 30, 2021
Dec. 31, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Stock options grant 630,750 114,600
Weighted-average grant date fair value of options granted during the period $ 2.98 $ 2.65
Underlying Options Shares    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Outstanding at beginning of period 660,251 499,700
Stock options grant 630,750 114,600
Acquired and converted options from acquisition   97,821
Forfeited during the period (43,280) (20,000)
Exercised during the period (73,797) (31,870)
Outstanding at the end of period 1,173,924 660,251
Options exercisable at end of period 372,204 397,581
Outstanding at beginning of period $ 14.37 $ 13.84
Granted during the period 19.27 16.64
Acquired and converted options from acquisition   13.68
Forfeited during the period 15.49 14.24
Exercised during the period 13.29 12.07
Outstanding at the end of period 17.03 14.37
Options exercisable at end of period 13.56 13.14
Weighted-average grant date fair value of options granted during the period $ 2.98 $ 2.65