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Summary of Non-vested Non-qualified Stock Option Activity (Details) - USD ($)
 9 Months Ended 12 Months Ended
Sep. 30, 2021
Dec. 31, 2020
Dec. 31, 2019
2017 Equity Incentive Plan [Member] | Directors [Member]      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Number of Options Nonvested, Ending   6,666
Weighted Average Grant-Date Fair Value, Ending   $ 4.35
Aggregated Intrinsic Value, Nonvested Ending   $ 5,800
Grant Date Fair Value Nonvested, Ending   $ 29,000
Number of Options Nonvested, Granted   43,333
Weighted Average Grant-Date Fair Value, Granted   $ 8.55
Grant Date Fair Value Nonvested, Granted   $ 373,000  
Number of Options Nonvested, Vested   (36,667)
Weighted Average Grant-Date Fair Value, Vested   $ 9.45
Grant Date Fair Value Nonvested, Vested   $ 344,000  
Number of Options Nonvested, Forfeited  
Weighted Average Grant-Date Fair Value, Forfeited  
Grant Date Fair Value Nonvested, Forfeited    
Number of Options Nonvested, Expired  
Weighted Average Grant-Date Fair Value, Expired  
Grant Date Fair Value Nonvested, Expired    
Number of Options Nonvested, Forfeited  
Number of Options Nonvested, Beginning 6,666
Weighted Average Grant-Date Fair Value, Beginning $ 4.35
Aggregated Intrinsic Value, Nonvested Beginning $ 5,800
Grant Date Fair Value Nonvested, Beginning $ 29,000  
Number of Options Nonvested, Ending   6,666
Weighted Average Grant-Date Fair Value, Ending   $ 4.35
Aggregated Intrinsic Value, Nonvested Ending   $ 5,800
Grant Date Fair Value Nonvested, Ending   $ 29,000
2017 Equity Incentive Plan [Member] | Employees And Consultants [Member]      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Number of Options Nonvested, Ending 11,667  
Weighted Average Grant-Date Fair Value, Ending $ 9.15  
Aggregated Intrinsic Value, Nonvested Ending  
Grant Date Fair Value Nonvested, Ending $ 104,800  
Number of Options Nonvested, Granted 20,239    
Weighted Average Grant-Date Fair Value, Granted $ 12.30    
Grant Date Fair Value Nonvested, Granted    
Number of Options Nonvested, Vested (8,572)    
Weighted Average Grant-Date Fair Value, Vested $ 16.80    
Grant Date Fair Value Nonvested, Vested    
Number of Options Nonvested, Forfeited    
Grant Date Fair Value Nonvested, Forfeited    
Number of Options Nonvested, Expired    
Grant Date Fair Value Nonvested, Expired    
Number of Options Nonvested, Forfeited    
Number of Options Nonvested, Beginning    
Weighted Average Grant-Date Fair Value, Beginning    
Aggregated Intrinsic Value, Nonvested Beginning    
Grant Date Fair Value Nonvested, Beginning    
Aggregated Intrinsic Value, Vested $ 66,412    
Number of Options Nonvested, Ending 11,667  
Weighted Average Grant-Date Fair Value, Ending $ 9.15  
Aggregated Intrinsic Value, Nonvested Ending  
Grant Date Fair Value Nonvested, Ending 104,800  
Share-based Compensation Arrangement by Share-based Payment Award, Options, Vested in Period, Fair Value $ (66,412)    
2017 Equity Incentive Plan [Member] | Employees And Consultants [Member]      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Number of Options Nonvested, Ending   13,333
Weighted Average Grant-Date Fair Value, Ending     $ 11.25
Aggregated Intrinsic Value, Nonvested Ending  
Grant Date Fair Value Nonvested, Ending   $ 149,534
Number of Options Nonvested, Granted   44,113 13,333
Weighted Average Grant-Date Fair Value, Granted   $ 8.85 $ 9.75
Grant Date Fair Value Nonvested, Granted   $ 387,199 $ 130,120
Number of Options Nonvested, Vested   (57,446) (32,833)
Weighted Average Grant-Date Fair Value, Vested   $ 9.30 $ 11.10
Grant Date Fair Value Nonvested, Vested   $ 536,733 $ 362,998
Number of Options Nonvested, Forfeited   (16,056)
Weighted Average Grant-Date Fair Value, Forfeited     $ 15.30
Grant Date Fair Value Nonvested, Forfeited   $ 246,344
Number of Options Nonvested, Expired  
Weighted Average Grant-Date Fair Value, Expired    
Grant Date Fair Value Nonvested, Expired  
Number of Options Nonvested, Forfeited   16,056
Number of Options Nonvested, Beginning 13,333 48,889
Weighted Average Grant-Date Fair Value, Beginning   $ 11.25 $ 12.90
Aggregated Intrinsic Value, Nonvested Beginning
Grant Date Fair Value Nonvested, Beginning $ 149,534 $ 628,756
Number of Options Nonvested, Ending   13,333
Weighted Average Grant-Date Fair Value, Ending     $ 11.25
Aggregated Intrinsic Value, Nonvested Ending  
Grant Date Fair Value Nonvested, Ending   $ 149,534
2017 Equity Plan and 2021 Equity Plan [Member] | Directors [Member]      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Number of Options Nonvested, Ending 6,667  
Weighted Average Grant-Date Fair Value, Ending   $ 4.35  
Aggregated Intrinsic Value, Nonvested Ending $ 31,000  
Grant Date Fair Value Nonvested, Ending  
Number of Options Nonvested, Granted 1,538    
Weighted Average Grant-Date Fair Value, Granted $ 9.75    
Grant Date Fair Value Nonvested, Granted    
Number of Options Nonvested, Vested (8,205)    
Weighted Average Grant-Date Fair Value, Vested $ 5.40    
Grant Date Fair Value Nonvested, Vested    
Number of Options Nonvested, Forfeited    
Number of Options Nonvested, Expired    
Number of Options Nonvested, Forfeited    
Number of Options Nonvested, Beginning 6,667    
Weighted Average Grant-Date Fair Value, Beginning $ 4.35    
Aggregated Intrinsic Value, Nonvested Beginning $ 31,000    
Grant Date Fair Value Nonvested, Beginning    
Aggregated Intrinsic Value, Vested $ 1,154    
Number of Options Nonvested, Ending 6,667  
Weighted Average Grant-Date Fair Value, Ending   $ 4.35  
Aggregated Intrinsic Value, Nonvested Ending $ 31,000  
Grant Date Fair Value Nonvested, Ending  
Share-based Compensation Arrangement by Share-based Payment Award, Options, Vested in Period, Fair Value (1,154)    
Aggregated Intrinsic Value, Nonvested Forfeited $ (29,846)