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Stock Options and Warrants - Schedule of Weighted Average Remaining life (Details) - Underlying Options Shares - $ / shares
9 Months Ended 12 Months Ended
Sep. 30, 2021
Dec. 31, 2020
Dec. 31, 2019
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Options Outstanding 1,173,924 660,251 499,700
Weighted Average Remaining Life (years) 7 years 10 months 9 days 6 years 6 months 3 days  
Options Exercisable 372,204 397,581  
$10.00 - $12.99      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Exercise Price, Lower Range Limit $ 10.00    
Exercise Price, Upper Range Limit $ 12.99    
Options Outstanding 170,566 260,523  
Weighted Average Remaining Life (years) 3 years 2 months 12 days 4 years 1 month 20 days  
Options Exercisable 170,566 242,823  
$13.00 - $16.99      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Exercise Price, Lower Range Limit $ 13.00    
Exercise Price, Upper Range Limit $ 16.99    
Options Outstanding 535,358 399,728  
Weighted Average Remaining Life (years) 7 years 9 months 3 days 8 years 18 days  
Options Exercisable 201,638 154,758  
$17.00 - $24.00      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Exercise Price, Lower Range Limit $ 17.00    
Exercise Price, Upper Range Limit $ 24.00    
Options Outstanding 468,000    
Weighted Average Remaining Life (years) 9 years 8 months 4 days