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Stockholders' Equity - Summary of Stock Option Activity (Details) - Stock Options - USD ($)
 12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Number of Shares, Outstanding beginning balance 1,320,267 1,686,444  
Number of Shares, Granted   432,125  
Number of Shares, Forfeited / Canceled (13,772) (38,197)  
Number of Shares, Exercised (280,996) (760,105)  
Number of Shares, Outstanding ending balance 1,025,499 1,320,267 1,686,444
Number of Shares, Exercisable ending balance 1,013,455    
Number of Shares, Vested and expected to vest ending balance 1,025,138    
Weighted Average Exercise Price, Outstanding beginning balance $ 1.81 $ 1.32  
Weighted Average Exercise Price, Granted   2.17  
Weighted Average Exercise Price, Forfeited / Canceled 2.66 2.32  
Weighted Average Exercise Price, Exercised 1.05 0.88  
Weighted Average Exercise Price, Outstanding ending balance 2.01 $ 1.81 $ 1.32
Weighted Average Exercise Price, Exercisable ending balance 2.00    
Weighted Average Exercise Price, Vested and expected to vest ending balance $ 2.01    
Weighted Average Remaining Contractual Life (in years), Outstanding balance 6 years 4 months 6 days 6 years 5 months 4 days 4 years 10 months 2 days
Weighted Average Remaining Contractual Life (in years), Granted   9 years 5 months 15 days  
Weighted Average Remaining Contractual Life (in years), Forfeited / Cancelled 6 years 2 months 15 days 7 years 3 days  
Weighted Average Remaining Contractual Life (in years), Exercised 2 years 29 days 2 years 9 months 10 days  
Weighted Average Remaining Contractual Life (in years), Exercisable balance 6 years 3 months 29 days    
Weighted Average Remaining Contractual Life (in years), Vested and expected to vest balance 6 years 4 months 6 days    
Aggregate Intrinsic Value, Outstanding balance $ 3,014,448 $ 2,889,274 $ 4,531,038
Aggregate Intrinsic Value, Granted balance   795,553  
Aggregate Intrinsic Value, Forfeited / Cancelled balance (28,359) (63,826)  
Aggregate Intrinsic Value, Exercised balance (1,096,540) $ (2,370,491)  
Aggregate Intrinsic Value, Exercisable balance 2,986,348    
Aggregate Intrinsic Value, Vested and expected to vest balance $ 3,013,605