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Stock-Based Compensation (Details) - USD ($)
$ / shares in Units, $ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2021
Mar. 31, 2021
Sep. 30, 2020
Sep. 30, 2021
Sep. 30, 2020
Dec. 31, 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Equity Incentive plan shares for issuance authorized 5,000,000     5,000,000    
Weighted Average Exercise Price, Exercised       $ 1.31    
Number of stock options exercised 0   0 217,718 0  
Accrued expenses and other current liabilities $ 3,888     $ 3,888   $ 2,275
STIP            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Accrued expenses and other current liabilities 400     400   $ 0
Restricted Stock Units (RSUs)            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Total intrinsic value 100   $ 200 100 $ 400  
Fair value $ 100   $ 300 $ 100 $ 500  
Vested (in shares) 49,755   58,133 52,797 93,205  
Deferred Stock Units            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Number of units Granted   130,000        
Number of units Granted in lieu of board fees 1,960     1,960    
Additional disclosures            
Vesting period   10 years        
Deferred stock units liability $ 200     $ 200    
Deferred stock units expense       $ 200