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Stock Options and Warrants - Additional Information (Details)
1 Months Ended 12 Months Ended
May 20, 2021
shares
Jan. 01, 2020
shares
Jul. 31, 2018
shares
Dec. 31, 2021
USD ($)
$ / shares
shares
Dec. 31, 2020
USD ($)
$ / shares
Dec. 31, 2019
USD ($)
$ / shares
Jan. 01, 2021
shares
May 29, 2019
shares
Dec. 31, 2017
shares
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                  
Expiration period   10 years              
Exchange ratio   0.89              
Vested options outstanding   109,908              
Converted options of common stock   97,821              
Remaining available for grant for future awards       0          
Risk-free interest rate minimum       0.70% 0.47% 1.46%      
Risk-free interest rate maximum       1.48% 1.85% 2.64%      
Dividend yield rate       0.00% 0.00% 0.00%      
Estimated volatility rate       10.00% 10.00% 10.00%      
Expected lives of options       7 years 6 months 7 years 6 months 7 years 6 months      
Stock-based compensation expense | $       $ 552,000 $ 275,000 $ 231,000      
Total intrinsic value of outstanding in-the-money stock options | $       5,800,000 1,300,000        
Intrinsic value outstanding in-the-money exercisable stock options | $       3,000,000.0 1,200,000        
Intrinsic value of stock options exercised | $       506,000 139,000 164,000      
Stock options exercised | $       $ 995,000 $ 385,000 $ 301,000      
Weighted average remaining contractual life of warrants outstanding       1 year 6 months          
Warrants exercisable year       10 years          
Warrants expires date       Jul. 01, 2023          
Weighted-average grant date fair value of options granted during the period | $ / shares       $ 3.15 $ 2.65 $ 3.26      
Weighted Average Grant Date Fair Value 'Vested during the period | $ / shares       $ 3.17 3.58 $ 3.84      
Directors, Executive Officers and Other Key Employees                  
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                  
Expiration period       10 years          
Vesting period       5 years          
Director                  
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                  
Granted exercise price | $ / shares         16.43        
Executive Officer                  
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                  
Granted exercise price | $ / shares         $ 16.78        
Other Key Employees | IPO                  
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                  
Granted exercise price | $ / shares       $ 26.68          
Non-vested Stock Options                  
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                  
Unrecognized compensation costs related non-vested stock | $       $ 2,200,000          
RSAs                  
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                  
Contractual term       10 years          
Stock-based compensation expense | $       $ 106,000          
Fair value of shares vested | $       0 $ 0 $ 0      
Total unrecognized compensation cost related to nonvested restricted stock awards | $       $ 1,100,000          
Total unrecognized compensation cost related to nonvested restricted stock awards recognized over remaining weighted average period       2 years 6 months 21 days          
Common Stock                  
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                  
Stock options exercised | $       $ 83,000 $ 32,000 $ 29,000      
Minimum | Director and Executive Officers                  
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                  
Granted exercise price | $ / shares       $ 16.30          
Minimum | RSAs                  
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                  
Vesting period       2 years          
Maximum | Director and Executive Officers                  
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                  
Granted exercise price | $ / shares       $ 24.00          
Maximum | RSAs                  
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                  
Vesting period       4 years          
2013 Plan                  
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                  
Number of shares authorized to grant       500,000          
Additional issuance shares               152,750  
Remaining available for grant for future awards       0          
2019 Plan                  
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                  
Additional issuance shares 800,000                
Additional options shares grant in period 500,000                
Remaining available for grant for future awards       201,023          
Director Plan                  
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                  
Number of shares authorized to grant                 100,000
Additional options shares grant in period     50,000            
Description of the plan       Options are generally granted with an exercise price equal to the market price of the Company’s stock at the date of the grant. Option awards generally vest based on 5 years of continuous service and have 10-year contractual terms for non-controlling participants as defined by the Director Plan. Other grant terms can vary for controlling participants as defined by the Director Plan.          
Remaining available for grant for future awards       8,000          
Director Plan | Common Stock                  
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                  
Number of shares authorized to grant     150,000            
Director Plan | Maximum                  
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                  
Number of shares authorized to grant             187,000