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Stockholders' Equity - Common Stock (Details)	Sep. 30, 2021 vote $ / shares shares	Dec. 31, 2020 vote $ / shares shares
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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Face amount or stated value per share of common stock.

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The maximum number of common shares permitted to be issued by an entity's charter and bylaws.

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Total number of common shares of an entity that have been sold or granted to shareholders (includes common shares that were issued, repurchased and remain in the treasury). These shares represent capital invested by the firm's shareholders and owners, and may be all or only a portion of the number of shares authorized. Shares issued include shares outstanding and shares held in the treasury.

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Number of shares of common stock outstanding. Common stock represent the ownership interest in a corporation.

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