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Equity Plans - Narrative (Details) - shares
1 Months Ended 3 Months Ended 12 Months Ended
Jan. 01, 2021
May 31, 2018
Jul. 31, 2016
Mar. 31, 2022
Mar. 31, 2021
Dec. 31, 2021
Equity Plans            
Average volatility 25.00%         50.00%
Percentage of volatility of stock options since IPO 75.00%         50.00%
2016 Equity Incentive Plan            
Equity Plans            
Expiration period     10 years      
Number of shares available for issuance       1,095,340    
2018 Inducement Plan            
Equity Plans            
Expiration period   10 years        
Number of shares available for issuance       743,125    
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%