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Stock-Based Compensation and Employee Benefit Plans - Narrative (Details) - USD ($)
$ in Millions
9 Months Ended
May 09, 2019
Sep. 30, 2021
Share-based Compensation Arrangement by Share-based Payment Award    
Unrecognized compensation cost   $ 4.9
Weighted average vesting period for non-vested option awards (in years)   2 years 9 months 18 days
2009 Equity Incentive Plan    
Share-based Compensation Arrangement by Share-based Payment Award    
Plan term   10 years
Evergreen increase (percent) 3.00%  
Number of shares remained available for issuance (in shares)   433,761
2010 Non-Employee Directors' Stock Option Plan    
Share-based Compensation Arrangement by Share-based Payment Award    
Number of shares remained available for issuance (in shares)   5,624
2010 Employee Stock Purchase Plan    
Share-based Compensation Arrangement by Share-based Payment Award    
Number of shares remained available for issuance (in shares)   60,000
2010 Employee Stock Purchase Plan | ESPP    
Share-based Compensation Arrangement by Share-based Payment Award    
Number of shares reserved for issuance (in shares)   60,000