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Stockholders' Equity (Details) - USD ($)
3 Months Ended 9 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Sep. 30, 2021
Sep. 30, 2020
Nov. 30, 2019
Nov. 30, 2018
May 05, 2017
Maximum              
Class of Stock [Line Items]              
Requirement to own shares outstanding as percent             4.99%
Common Stock              
Class of Stock [Line Items]              
Remaining authorized amount $ 7,000,000   $ 7,000,000   $ 2,900,000    
Authorized incremental amount         $ 7,100,000    
Stock repurchased (in shares) 0 0 0 20,613      
Stock repurchased   $ 0   $ 200,000      
Common Stock | Maximum              
Class of Stock [Line Items]              
Authorized amount           $ 20,000,000