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Share-Based Compensation - Textual (Details)
9 Months Ended
Jun. 02, 2017
shares
Sep. 30, 2021
USD ($)
plan
$ / shares
shares
Sep. 30, 2020
USD ($)
shares
Dec. 31, 2020
shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Number of plans | plan   4    
Share-based compensation expense | $   $ 310,000 $ 362,000  
Unrecognized compensation cost related to non-vested share-based compensation arrangements | $   $ 0    
Granted (in shares) | shares   0 0  
Employee Stock Purchase Plan (ESPP)        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Offering period 3 months      
Discount from market price 10.00%      
Shares reserved for plan (in shares) | shares 500,000      
Shares available for grant (in shares) | shares   447,787    
Minimum        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Payroll deductions 1.00%      
Maximum        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Payroll deductions 15.00%      
Stock Options        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Tax benefit of stock option compensation expense | $   $ (50,000) $ (78,000)  
Restricted Common Stock        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Granted (in shares) | shares   31,496    
Unrecognized compensation cost related to non-vested share-based compensation arrangements | $   $ 363,000    
Granted (in dollars per share) | $ / shares   $ 18.83    
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number | shares   24,177   30,013
Weighted average remaining period   1 year 7 months 9 days    
Intrinsic value | $   $ 2,975,000    
Restricted Common Stock | Minimum        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Award vesting period   1 year    
Restricted Common Stock | Maximum        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Award vesting period   5 years