Equity Incentive Plans, Options Outstanding and Vested and Currently Exercisable by Exercise Prices (Details) - $ / shares | 6 Months Ended | |
Jun. 30, 2021 | Dec. 31, 2020 |
Option outstanding [Abstract] | | |
Option outstanding, exercise price (in dollars per share) | $ 3.59 | $ 3.60 |
Option outstanding, outstanding ( in shares) | 699,636 | 743,627 |
Option outstanding, weighted average remaining life years | 5 years 10 months 20 days | |
Options vested and exercisable [Abstract] | | |
Options vested and exercisable, Number of option vested (in shares) | 497,272 | |
Options vested and exercisable, Weighted average remaining life years | 5 years 9 months 18 days | |
$1.71 [Member] | | |
Option outstanding [Abstract] | | |
Option outstanding, exercise price (in dollars per share) | $ 1.71 | |
Option outstanding, outstanding ( in shares) | 227,780 | |
Option outstanding, weighted average remaining life years | 4 years 8 months 19 days | |
Options vested and exercisable [Abstract] | | |
Options vested and exercisable, Number of option vested (in shares) | 116,669 | |
Options vested and exercisable, Exercise price (in dollars per share) | $ 1.71 | |
Options vested and exercisable, Weighted average remaining life years | 4 years 8 months 19 days | |
$3.24 [Member] | | |
Option outstanding [Abstract] | | |
Option outstanding, exercise price (in dollars per share) | $ 3.24 | |
Option outstanding, outstanding ( in shares) | 284,283 | |
Option outstanding, weighted average remaining life years | 6 years | |
Options vested and exercisable [Abstract] | | |
Options vested and exercisable, Number of option vested (in shares) | 283,866 | |
Options vested and exercisable, Exercise price (in dollars per share) | $ 3.24 | |
Options vested and exercisable, Weighted average remaining life years | 6 years | |
$3.96 [Member] | | |
Option outstanding [Abstract] | | |
Option outstanding, exercise price (in dollars per share) | $ 3.96 | |
Option outstanding, outstanding ( in shares) | 67,838 | |
Option outstanding, weighted average remaining life years | 6 years 8 months 15 days | |
Options vested and exercisable [Abstract] | | |
Options vested and exercisable, Number of option vested (in shares) | 45,892 | |
Options vested and exercisable, Exercise price (in dollars per share) | $ 3.96 | |
Options vested and exercisable, Weighted average remaining life years | 6 years 8 months 15 days | |
$4.50 [Member] | | |
Option outstanding [Abstract] | | |
Option outstanding, exercise price (in dollars per share) | $ 4.50 | |
Option outstanding, outstanding ( in shares) | 1,667 | |
Option outstanding, weighted average remaining life years | 7 years 4 months 17 days | |
Options vested and exercisable [Abstract] | | |
Options vested and exercisable, Number of option vested (in shares) | 0 | |
Options vested and exercisable, Exercise price (in dollars per share) | $ 0 | |
$4.95 [Member] | | |
Option outstanding [Abstract] | | |
Option outstanding, exercise price (in dollars per share) | $ 4.95 | |
Option outstanding, outstanding ( in shares) | 45,834 | |
Option outstanding, weighted average remaining life years | 7 years 8 months 26 days | |
Options vested and exercisable [Abstract] | | |
Options vested and exercisable, Number of option vested (in shares) | 23,612 | |
Options vested and exercisable, Exercise price (in dollars per share) | $ 4.95 | |
Options vested and exercisable, Weighted average remaining life years | 7 years 8 months 26 days | |
$6.12 [Member] | | |
Option outstanding [Abstract] | | |
Option outstanding, exercise price (in dollars per share) | $ 6.12 | |
Option outstanding, outstanding ( in shares) | 60,009 | |
Option outstanding, weighted average remaining life years | 8 years 5 months 12 days | |
Options vested and exercisable [Abstract] | | |
Options vested and exercisable, Number of option vested (in shares) | 15,008 | |
Options vested and exercisable, Exercise price (in dollars per share) | $ 6.12 | |
Options vested and exercisable, Weighted average remaining life years | 8 years 5 months 12 days | |
$27.00 [Member] | | |
Option outstanding [Abstract] | | |
Option outstanding, exercise price (in dollars per share) | $ 27 | |
Option outstanding, outstanding ( in shares) | 12,225 | |
Option outstanding, weighted average remaining life years | 1 year 25 days | |
Options vested and exercisable [Abstract] | | |
Options vested and exercisable, Number of option vested (in shares) | 12,225 | |
Options vested and exercisable, Exercise price (in dollars per share) | $ 27 | |
Options vested and exercisable, Weighted average remaining life years | 1 year 25 days | |