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Stock-Based Compensation - Narrative (Details) - USD ($)
$ / shares in Units, $ in Millions
3 Months Ended 6 Months Ended
Apr. 22, 2021
Sep. 10, 2019
Jun. 30, 2021
Jun. 30, 2020
Jun. 30, 2021
Jun. 30, 2020
Dec. 29, 2017
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Shares of common stock reserved for issuance (in shares)     2,063,000   2,063,000    
Closing price of the Company's common stock (in dollars per share)     $ 11.10   $ 11.10    
Weighted average exercise price, granted (in dollars per share)     $ 6.89 $ 1.35 $ 6.97 $ 1.53  
Averages contractual term         10 years    
Expected dividend yield (as a percent)     0.00% 0.00% 0.00% 0.00%  
Unrecognized compensation cost, options     $ 2.4   $ 2.4    
Operating expenses weighted average period         2 years 11 months 23 days    
RSUs              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Weighted average exercise price, granted (in dollars per share)         $ 8.00    
Operating expenses weighted average period         2 years 11 months 8 days    
Unrecognized compensation cost     $ 0.6   $ 0.6    
RSUs Vested (in shares)     0   0    
Maximum              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Average vesting term         6 years    
Minimum              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Average vesting term         4 years    
2017 Equity Plan              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Shares of common stock reserved for issuance (in shares)     2,684   2,684    
2017 Equity Plan | Maximum              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Shares of common stock authorized for issuance (in shares)             24,204
2019 Incentive Plan              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Shares of common stock authorized for issuance (in shares)   1,191,000          
Shares of common stock reserved for issuance (in shares)     463,000   463,000    
Option term   4 years          
Increase in number of shares available for future issuance under stock based awards (as a percent)   5.00%          
2021 ESPP | Employee Stock              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Shares of common stock reserved for issuance (in shares) 300,000            
Cash earnings contributed per year 20.00%            
Purchase price of common stock 85.00%