Stockholders' Equity - Summary of Stock Option Activity (Details) - Stock Options - USD ($)	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of Shares, Outstanding beginning balance	1,686,444	2,018,747
Number of Shares, Granted	432,125	106,000
Number of Shares, Forfeited / Canceled	(38,197)	(62,000)
Number of Shares, Exercised	(760,105)	(376,303)
Number of Shares, Outstanding ending balance	1,320,267	1,686,444	2,018,747
Number of Shares, Exercisable ending balance	842,871
Number of Shares, Vested and expected to vest ending balance	1,305,945
Weighted Average Exercise Price, Outstanding beginning balance	$ 1.13	$ 1.13
Weighted Average Exercise Price, Granted	2.17	2.14
Weighted Average Exercise Price, Forfeited / Canceled	2.32	2.04
Weighted Average Exercise Price, Exercised	0.88	0.46
Weighted Average Exercise Price, Outstanding ending balance	1.81	$ 1.13	$ 1.13
Weighted Average Exercise Price, Exercisable ending balance	1.56
Weighted Average Exercise Price, Vested and expected to vest ending balance	$ 1.81
Weighted Average Remaining Contractual Life (in years), Outstanding balance	6 years 5 months 4 days	4 years 10 months 2 days	4 years 29 days
Weighted Average Remaining Contractual Life (in years), Exercisable balance	4 years 9 months 21 days
Weighted Average Remaining Contractual Life (in years), Vested and expected to vest balance	6 years 4 months 24 days
Aggregate Intrinsic Value, Outstanding balance	$ 2,889,274	$ 2,013,516	$ 2,013,516
Aggregate Intrinsic Value, Exercisable balance	2,060,542
Aggregate Intrinsic Value, Vested and expected to vest balance	$ 2,864,412