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Equity - Stock Incentive Plans (Details) - USD ($)
 9 Months Ended
Sep. 30, 2021
Number of Shares  
Outstanding, beginning of period (in shares) 2,025,683
Granted (in shares) 0
Exercised (in shares) (524,171)
Unvested options forfeited (in shares) (50,000)
Vested options expired (in shares) 0
Outstanding, end of period (in shares) 1,451,512
Exercisable options, vested and expected to vest (in shares) 1,451,212
Weighted- Average Exercise Price  
Outstanding, beginning of period (in dollars per share) $ 4.62
Granted (in dollars per share) 0
Exercised (in dollars per share) 3.40
Unvested options forfeited (in dollars per share) 1.23
Vested options expired (in dollars per share) 0
Outstanding, end of period (in dollars per share) 5.18
Exercisable (in dollars per share) $ 5.18
Weighted- Average Remaining Contractual Term (in years)  
Outstanding (in years) 1 year 9 months 7 days
Exercisable (in years) 1 year 9 months 7 days
Aggregate Intrinsic Value  
Outstanding $ 1,982,949
Exercisable $ 1,982,949