Equity Plan - Stock Option Activity (Details) - Options - USD ($)	9 Months Ended
	Sep. 30, 2021
Number of Shares
Outstanding at the beginning of the period (in shares)	2,546,821
Granted (in shares)	360,750
Exercised (in shares)	(195,892)
Forfeited or expired (in shares)	(55,560)
Outstanding at the end of the period (in shares)	2,656,119
Vested or expected to vest (in shares)	2,496,752
Exercisable at the end of the period (in shares)	1,994,928
Weighted Average Exercise Price
Outstanding at the beginning of the period (in dollars per share)	$ 9.30
Granted (in dollars per share)	12.05
Exercised (in dollars per share)	5.47
Forfeited or expired (in dollars per share)	12.79
Outstanding at the end of the period (in dollars per share)	$ 9.88
Additional Information
Weighted Average Remaining Contractual Life - Outstanding at the end of the period (in years)	5 years 6 months 25 days
Weighted Average Remaining Contractual Life - Vested or expected to vest (in years)	5 years 6 months 25 days
Weighted Average Remaining Contractual Life - Exercisable at the end of the period (in years)	4 years 6 months
Aggregate Intrinsic Value - Outstanding at the end of the period (in dollars)	$ 6,663,854
Aggregate Intrinsic Value - Vested or expected to vest (in dollars)	6,264,023
Aggregate Intrinsic Value - Exercisable at the end of the period (in dollars)	$ 6,146,459