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Stockholders' Equity - Common Stock (Details) | Sep. 30, 2021 vote $ / shares shares | Dec. 31, 2020 vote $ / shares shares
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Class A voting common stock |  |
Class of Stock [Line Items] |  |
Common stock, shares authorized (in shares) | 100,000,000 | 100,000,000
Common stock, par value (in usd per share) | $ / shares | $ 0.001 | $ 0.001
Common stock voting rights | vote | 1 | 1
Common stock, shares issued (in shares) | 23,165,119 | 22,413,004
Common stock, shares outstanding (in shares) | 23,165,119 | 22,413,004
Class B voting common stock |  |
Class of Stock [Line Items] |  |
Common stock, shares authorized (in shares) | 20,000,000 | 20,000,000
Common stock, par value (in usd per share) | $ / shares | $ 0.001 | $ 0.001
Common stock voting rights | vote | 10 | 10
Common stock, shares issued (in shares) | 1,965,170 | 2,496,125
Common stock, shares outstanding (in shares) | 1,965,170 | 2,496,125

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