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Stockholders' Equity - Summary of information related to stock options (Details)
 3 Months Ended
Mar. 31, 2021
$ / shares
shares
Options Outstanding, Outstanding Number of Options 3,429,342
Options Exercisable, Weighted Average Remaining Life In Years 6 years 8 months 12 days
Options Exercisable, Exercisable Number of Options 1,862,537
Exercise Price 1.24 [Member]  
Options Outstanding, Outstanding Exercise Price | $ / shares $ 1.24
Options Outstanding, Outstanding Number of Options 260,000
Options Exercisable, Weighted Average Remaining Life In Years 4 years
Options Exercisable, Exercisable Number of Options 260,000
Exercise Price 1.95 [Member]  
Options Outstanding, Outstanding Exercise Price | $ / shares $ 1.95
Options Outstanding, Outstanding Number of Options 673,544
Options Exercisable, Weighted Average Remaining Life In Years 6 years 3 months 18 days
Options Exercisable, Exercisable Number of Options 673,544
Exercise Price 2.72 [Member]  
Options Outstanding, Outstanding Exercise Price | $ / shares $ 2.72
Options Outstanding, Outstanding Number of Options 764,419
Options Exercisable, Weighted Average Remaining Life In Years 0 years
Options Exercisable, Exercisable Number of Options 0
Exercise Price 2.74 [Member]  
Options Outstanding, Outstanding Exercise Price | $ / shares $ 2.74
Options Outstanding, Outstanding Number of Options 6,000
Options Exercisable, Weighted Average Remaining Life In Years 7 years 9 months 18 days
Options Exercisable, Exercisable Number of Options 4,333
Exercise Price 2.89 [Member]  
Options Outstanding, Outstanding Exercise Price | $ / shares $ 2.89
Options Outstanding, Outstanding Number of Options 263,500
Options Exercisable, Weighted Average Remaining Life In Years 0 years
Options Exercisable, Exercisable Number of Options 0
Exercise Price 3.11 [Member]  
Options Outstanding, Outstanding Exercise Price | $ / shares $ 3.11
Options Outstanding, Outstanding Number of Options 659,849
Options Exercisable, Weighted Average Remaining Life In Years 8 years 4 months 24 days
Options Exercisable, Exercisable Number of Options 369,646
Exercise price 3.43 [Member]  
Options Outstanding, Outstanding Exercise Price | $ / shares $ 3.43
Options Outstanding, Outstanding Number of Options 58,920
Options Exercisable, Weighted Average Remaining Life In Years 0 years
Options Exercisable, Exercisable Number of Options 0
Exercise price 3.48 [Member]  
Options Outstanding, Outstanding Exercise Price | $ / shares $ 3.48
Options Outstanding, Outstanding Number of Options 45,000
Options Exercisable, Weighted Average Remaining Life In Years 0 years
Options Exercisable, Exercisable Number of Options 0
Exercise price 3.71 [Member]  
Options Outstanding, Outstanding Exercise Price | $ / shares $ 3.71
Options Outstanding, Outstanding Number of Options 43,000
Options Exercisable, Weighted Average Remaining Life In Years 0 years
Options Exercisable, Exercisable Number of Options 0
Exercise Price 4.00 [Member]  
Options Outstanding, Outstanding Exercise Price | $ / shares $ 4.00
Options Outstanding, Outstanding Number of Options 2,000
Options Exercisable, Weighted Average Remaining Life In Years 7 years 7 months 6 days
Options Exercisable, Exercisable Number of Options 1,556
Exercise price 4.68 [Member]  
Options Outstanding, Outstanding Exercise Price | $ / shares $ 4.68
Options Outstanding, Outstanding Number of Options 25,000
Options Exercisable, Weighted Average Remaining Life In Years 8 years 9 months 18 days
Options Exercisable, Exercisable Number of Options 9,029
Exercise Price 5.10 [Member]  
Options Outstanding, Outstanding Exercise Price | $ / shares $ 5.10
Options Outstanding, Outstanding Number of Options 6,000
Options Exercisable, Weighted Average Remaining Life In Years 7 years 4 months 24 days
Options Exercisable, Exercisable Number of Options 5,000
Exercise Price 5.11 [Member]  
Options Outstanding, Outstanding Exercise Price | $ / shares $ 5.11
Options Outstanding, Outstanding Number of Options 1,637
Options Exercisable, Weighted Average Remaining Life In Years 0 years
Options Exercisable, Exercisable Number of Options 0
Exercise Price 5.19 [Member]  
Options Outstanding, Outstanding Exercise Price | $ / shares $ 5.19
Options Outstanding, Outstanding Number of Options 16,500
Options Exercisable, Weighted Average Remaining Life In Years 7 years 4 months 24 days
Options Exercisable, Exercisable Number of Options 13,750
Exercise Price 5.25 [Member]  
Options Outstanding, Outstanding Exercise Price | $ / shares $ 5.25
Options Outstanding, Outstanding Number of Options 26,668
Options Exercisable, Weighted Average Remaining Life In Years 5 years 6 months
Options Exercisable, Exercisable Number of Options 26,668
Exercise Price 5.77 [Member]  
Options Outstanding, Outstanding Exercise Price | $ / shares $ 5.77
Options Outstanding, Outstanding Number of Options 50,000
Options Exercisable, Weighted Average Remaining Life In Years 0 years
Options Exercisable, Exercisable Number of Options 0
Exercise Price 6.20 [Member]  
Options Outstanding, Outstanding Exercise Price | $ / shares $ 6.20
Options Outstanding, Outstanding Number of Options 300,387
Options Exercisable, Weighted Average Remaining Life In Years 7 years 3 months 18 days
Options Exercisable, Exercisable Number of Options 283,298
Exercise Price 6.30 [Member]  
Options Outstanding, Outstanding Exercise Price | $ / shares $ 6.30
Options Outstanding, Outstanding Number of Options 60,000
Options Exercisable, Weighted Average Remaining Life In Years 7 years 3 months 18 days
Options Exercisable, Exercisable Number of Options 53,333
Exercise Price 8.72 [Member]  
Options Outstanding, Outstanding Exercise Price | $ / shares $ 8.72
Options Outstanding, Outstanding Number of Options 166,918
Options Exercisable, Weighted Average Remaining Life In Years 7 years
Options Exercisable, Exercisable Number of Options 162,380