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Consolidated Statements of Cash Flows (Parenthetical) - USD ($)
Sep. 30, 2021
Dec. 31, 2020
Sep. 30, 2020
Dec. 31, 2019
Reconciliation of cash, cash equivalents, and restricted cash        
Cash and cash equivalents $ 12,076,000 $ 9,649,000 $ 15,885,000  
Restricted cash 1,200,000 1,200,000 1,200,000  
Cash, cash equivalents and restricted cash $ 13,276,000 $ 10,849,000 $ 17,085,000 $ 6,733,000