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Stock-Based Compensation (Details) - Schedule of stock option activity
 6 Months Ended
Jun. 30, 2021
$ / shares
shares
Stock-Based Compensation (Details) - Schedule of stock option activity [Line Items]  
Number of Shares Available for Issuance Under the Plan, Outstanding at beginning 2,538,648
Number of Shares, Stock Options Outstanding at beginning 4,710,717
Weighted- Average Exercise Price, Stock Options Outstanding at beginning (in Dollars per share) | $ / shares $ 7.06
Number of Shares Available for Issuance Under the Plan, Outstanding at ending 2,041,838
Number of Shares, Stock Options Outstanding at ending 4,737,222
Weighted- Average Exercise Price, Stock Options Outstanding at ending (in Dollars per share) | $ / shares $ 7.50
Number of Shares Available for Issuance Under the Plan, Granted (584,024) [1]
Number of Shares, Stock Options Granted 207,398 [1]
Weighted- Average Exercise Price, Stock Options Granted (in Dollars per share) | $ / shares $ 15.96 [1]
Number of Shares, Restricted Stock Units Granted 207,398 [1]
Number of Shares Available for Issuance Under the Plan, Options exercised and RSUs vested
Number of Shares, Stock Options Options exercised and RSUs vested (103,572)
Weighted- Average Exercise Price, Stock Options Options exercised and RSUs vested (in Dollars per share) | $ / shares $ 4.06
Number of Shares, Restricted Stock Units Options Options exercised and RSUs vested 103,572
Number of Shares Available for Issuance Under the Plan, Forfeited or expired 87,214
Number of Shares, Stock Options Forfeited or expired (77,321)
Weighted- Average Exercise Price, Stock Options Forfeited or expired (in Dollars per share) | $ / shares $ 4.13
Number of Shares, Restricted Stock Units Forfeited or expired 77,321
Weighted-Average Grant Date Fair Value Forfeited or expired (in Dollars per share) | $ / shares $ 4.13
Restricted Stock Units [Member]  
Stock-Based Compensation (Details) - Schedule of stock option activity [Line Items]  
Number of Shares, Restricted Stock Units Outstanding at beginning 413,277
Weighted- Average Grant Date Fair Value, Restricted Stock Units Outstanding at beginning (in Dollars per share) | $ / shares $ 9.21
Number of Shares, Restricted Stock Units Outstanding at ending 772,284
Weighted- Average Grant Date Fair Value, Restricted Stock Units Outstanding at ending (in Dollars per share) | $ / shares $ 11.83
Number of Shares, Stock Options Granted 376,626 [1]
Number of Shares, Restricted Stock Units Granted 376,626 [1]
Weighted- Average Grant Date Fair Value, Restricted Stock Units Granted (in Dollars per share) | $ / shares $ 14.74 [1]
Number of Shares, Stock Options Options exercised and RSUs vested 7,726
Number of Shares, Restricted Stock Units Options Options exercised and RSUs vested (7,726)
Weighted- Average Grant Date Fair Value Options Options exercised and RSUs vested (in Dollars per share) | $ / shares $ 13.79
Number of Shares, Stock Options Forfeited or expired 9,893
Weighted- Average Exercise Price, Stock Options Forfeited or expired (in Dollars per share) | $ / shares $ 11.56
Number of Shares, Restricted Stock Units Forfeited or expired (9,893)
Weighted-Average Grant Date Fair Value Forfeited or expired (in Dollars per share) | $ / shares $ 11.56
[1] Included in options granted during the six months ended June 30, 2021, is a total of 152,358 fully vested options with an exercise price of $16.42 and a five-year contractual term, which resulted in compensation expense totaling $0.9 million being recorded upon grant.