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Stock-Based Incentive Compensation Plans - Narrative (Details) - USD ($)
1 Months Ended 12 Months Ended 49 Months Ended
Oct. 31, 2018
Dec. 31, 2017
Mar. 31, 2017
Dec. 31, 2018
Dec. 31, 2017
Sep. 30, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Options granted, weighted-average grant date fair value (in dollars per share)       $ 3.98 $ 1.80  
Early exercise of stock options, share subject to repurchase (in shares)   16,117   74,019 16,117  
Liability for early exercise of unvested stock options   $ 65,000   $ 331,000 $ 65,000  
Forgiveness of notes receivable       $ 0 400,000  
Stock options granted (in shares)       100,080    
Grant price of stock options granted (in dollars per share)       $ 8.88    
Unrecognized compensation cost       $ 4,500,000    
Unrecognized compensation cost, expected period for recognition (in years)       2 years 3 months 15 days    
Minimum            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Exercise price of option as percent of fair market value when individual owns more than 10% of shares outstanding (percent)       110.00%    
Incentive Stock Options | Minimum            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Exercise price of option as percent of fair market value (percent)       100.00%    
Nonqualified Stock Options | Minimum            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Exercise price of option as percent of fair market value (percent)       85.00%    
Stock Options            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Expiration period (in years)       10 years    
Expiration period when individual holds more than 10% of shares outstanding (in years)       5 years    
Award vesting period (in years)       4 years    
Stock-based compensation expense       $ 2,312,000 $ 1,875,000  
Restricted Stock Units | Minimum            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Award vesting period (in years)       2 years    
Restricted Stock Units | Maximum            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Award vesting period (in years)       4 years    
Performance Shares            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Stock options granted (in shares)     564,098      
Grant price of stock options granted (in dollars per share)   $ 4.68 $ 5.94      
Stock-based compensation expense       $ 600,000    
Number of options with modification of terms (in shares)   394,652        
Performance Shares | Forecast            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Stock-based compensation expense to be recognized related to modification of terms           $ 800,000
Performance Shares | Vesting Tranche One            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Award vesting period (in years)     4 years      
Stock options granted (in shares)     408,544      
Performance Shares | Vesting Tranche Two            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Award vesting period (in years)     3 years      
Stock options granted (in shares)     155,554      
2008 Stock Option Plan            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Number of shares authorized (in shares)   5,350,080     5,350,080  
2018 Equity Incentive Plan            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Number of shares authorized (in shares)       2,576,538    
2018 Employee Stock Purchase Plan            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Number of shares authorized (in shares) 515,307          
Purchase price of common stock as a percent of fair market value (percent)       85.00%    
Employees stock purchase program offering period interval (in months)       6 months    
Stock-based compensation expense $ 100,000          
Unrecognized compensation cost       $ 300,000