Stockholders' Equity - Additional information (Details)	6 Months Ended		12 Months Ended	13 Months Ended
	Jun. 30, 2021 USD ($) item $ / shares shares	Jun. 30, 2020 USD ($) shares	Dec. 31, 2020 USD ($) $ / shares shares	Dec. 31, 2020 USD ($) $ / shares shares	Dec. 22, 2020 $ / shares	Dec. 31, 2019 USD ($) $ / shares shares	Dec. 31, 2016 USD ($)
Capital Stock Shares authorized.	120,000,000
Common Stock, Shares Authorized	79,999,997		79,999,997	79,999,997
Common Stock, Par or Stated Value Per Share | $ / shares	$ 0.01		$ 0.01	$ 0.01
Special Stock, Shares Authorized	1
Special Stock, Par or Stated Value Per Share | $ / shares	$ 0.01		$ 0.01	$ 0.01
Excess Stock, Shares Authorized	1		1	1
Common Stock, Shares, Issued	38,853,443		38,345,540	38,345,540
Common Stock, Shares, Outstanding	32,455,568		32,172,107	32,172,107
Warrant liability | $	$ 3,129,000		$ 830,000	$ 830,000
Warrants, term						10 years
Warrants to purchase common stock issued (in shares)						7,179,000
Warrants, Exercise Price (in dollars per share) | $ / shares	$ 4.50				$ 4.50	$ 6.50
Threshold minimum beneficial ownership (as a percent)	5.00%					5.00%
Threshold maximum percentage of issued and outstanding common stock, after exercise of warrants (as a percent)						19.90%
Unrealized loss on warrants | $	$ 2,300,000
Number of board members who can be appointed by the warrant holder | item	1
Preemptive rights period	5 years
Share repurchase program, authorized amount | $						$ 5,000,000.0
Share repurchase program, number of shares repurchased (in shares)	0		200,803	250,197
Share repurchase program, average price paid per share (in dollars per share) | $ / shares			$ 1.67	$ 1.93
Share repurchase program, approximate dollar value of shares available for purchase | $	$ 4,500,000
Stock Issued During Period, Value, Issued for Services | $		$ 600,000
Common Stock
Stock Issued During Period, Value, Issued for Services | $		$ 2,000
Series A And B Preferred Stock [Member]
Excess Stock, Shares Authorized	1
At-The-Market Equity Offering Program [Member]
Stock Issuance Program, Maximum Amount Authorized | $							$ 12,000,000.0
Stock Issued During Period, Shares, New Issues	0	0
Preferred Stock
Preferred Stock, Shares Authorized	2		2	2
Preferred Stock, Par or Stated Value Per Share | $ / shares	$ 0.01		$ 0.01	$ 0.01
Blank Check Preferred Stock
Preferred Stock, Shares Authorized	40,000,000		40,000,000	40,000,000
Preferred Stock, Par or Stated Value Per Share | $ / shares	$ 0.01		$ 0.01	$ 0.01