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Stockholders' Equity - Company's Stock Option Activity (Details) - USD ($) $ / shares in Units, $ in Thousands	9 Months Ended		12 Months Ended
	Sep. 30, 2021	Sep. 30, 2020	Dec. 31, 2020
2003 Stock Incentive Plan
OUTSTANDING OPTIONS
Outstanding at beginning of period	97,250
Options exercised	(3,785)
Outstanding at end of period	93,465		97,250
WEIGHTED-AVERAGE EXERCISE PRICE
Outstanding at beginning of period	$ 1.96
Options granted	1.12
Outstanding at end of period	$ 2.00		$ 1.96
VESTED AND EXPECTED TO VEST
Weighted-Average Remaining Contractual Term	6 months		1 year 3 months 18 days
Aggregate Intrinsic Value (in thousands)	$ 19
2013 Equity Incentive Plan
OUTSTANDING OPTIONS
Outstanding at beginning of period	5,753,211
Options granted	898,100
Options exercised	0	0
Options forfeited	(829,149)
Outstanding at end of period	5,822,162		5,753,211
WEIGHTED-AVERAGE EXERCISE PRICE
Outstanding at beginning of period	$ 8.93
Options granted	3.70
Options forfeited	8.32
Outstanding at end of period	$ 8.22		$ 8.93
VESTED AND EXPECTED TO VEST
Outstanding options	5,822,162
Weighted-Average Exercise Price	$ 8.22
Weighted-Average Remaining Contractual Term	6 years 4 months 24 days
ADDITIONAL DISCLOSURES
Outstanding options exercisable at end of period	3,954,324
Weighted-average exercise price exercisable at end of period	$ 9.40
Weighted-average contractual term outstanding	6 years 4 months 24 days		6 years 7 months 6 days
Weighted-average contractual term (years) exercisable	5 years 6 months

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