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Stockholders' Equity - Reserved Shares of Common Stock for Issuance (Details) - shares
Sep. 30, 2021
Dec. 31, 2020
Class of Stock [Line Items]    
Common stock reserved for future issuance (in shares) 3,601,238 2,725,956
Stock options issued and outstanding    
Class of Stock [Line Items]    
Common stock reserved for future issuance (in shares) 183,271 255,000
Nonvested restricted stock units issued and outstanding    
Class of Stock [Line Items]    
Common stock reserved for future issuance (in shares) 369,614 450,614
Stock-based awards available for grant under the 2017 Plan    
Class of Stock [Line Items]    
Common stock reserved for future issuance (in shares) 3,048,353 2,020,342