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Equity Incentive Plans (Summary of Stock Option Activity) (Details)
 9 Months Ended 12 Months Ended
Sep. 30, 2021
USD ($)
$ / shares
shares
Dec. 31, 2020
$ / shares
shares
Stock-based Compensation    
Shares, Balance Beginning | shares 1,668,926  
Shares, Granted | shares 856,150  
Shares, Exercised | shares (73,517)  
Shares, Forfeited/Cancelled | shares (11,908)  
Shares, Balance Ending | shares 2,439,651 1,668,926
Vested and expected to vest at December 31, 2020 | shares 2,439,651  
Exercisable at September 30, 2020 | shares 733,721  
Weighted Average Exercise Price, Outstanding Beginning | $ / shares $ 6.30  
Weighted Average Exercise Price, Granted | $ / shares 4.77  
Weighted Average Exercise Price, Exercised | $ / shares 3.27  
Weighted Average Exercise Price, Forfeited/Cancelled | $ / shares 48.67  
Weighted Average Exercise Price, Outstanding Ending | $ / shares 5.65 $ 6.30
Weighted Average Exercise Price, Vested or expected to vest at September 30, 2020 | $ / shares 5.65  
Weighted Average Exercise Price, Exercisable at September 30, 2020 | $ / shares $ 9.48  
Weighted Average Remaining Contractual Term (Years), Outstanding 8 years 2 months 8 days 8 years 3 months 25 days
Weighted Average Remaining Contractual Term (Years), Vested or expected to vest at September 30, 2020 8 years 2 months 8 days  
Weighted Average Remaining Contractual Term (Years), Exercisable at September 30, 2020 6 years 6 months 18 days  
Aggregate Intrinsic Value, Exercised | $ $ 98,000  
Aggregate Intrinsic Value, Outstanding Ending | $ 609,000  
Aggregate Intrinsic Value, Vested or expected to vest at September 30, 2020 | $ 609,000  
Aggregate Intrinsic Value, Exercisable at September 30, 2020 | $ $ 252,000