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Equity Plans - Narrative (Details) - shares
1 Months Ended 3 Months Ended 9 Months Ended 12 Months Ended
Jan. 01, 2021
May 31, 2018
Jul. 31, 2016
Sep. 30, 2021
Sep. 30, 2020
Sep. 30, 2021
Sep. 30, 2020
Dec. 31, 2020
Equity Plans                
Average volatility 50.00%             75.00%
Percentage of volatility of stock options since IPO 50.00%             25.00%
2016 Plan                
Equity Plans                
Expiration period     10 years          
Number of shares available for issuance       524,762   524,762    
2018 Inducement Plan                
Equity Plans                
Expiration period   10 years            
Number of shares available for issuance       243,125   243,125    
Options to purchase common stock                
Equity Plans                
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Expected Dividend Rate       0.00% 0.00% 0.00% 0.00%