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Stockholders' Equity - Summary of information related to stock options (Details)
 6 Months Ended
Jun. 30, 2021
$ / shares
shares
Options Outstanding, Outstanding Number of Options 4,104,519
Options Exercisable, Weighted Average Remaining Life In Years 6 years 10 months 24 days
Options Exercisable, Exercisable Number of Options 2,185,978
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 3 years 8 months 12 days
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 568,822
Options Exercisable, Weighted Average Remaining Life In Years 6 years
Options Exercisable, Exercisable Number of Options 568,822
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 254,807
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 6 months
Options Exercisable, Exercisable Number of Options 4,833
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 95,158
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 1 month 6 days
Options Exercisable, Exercisable Number of Options 420,859
Exercise Price 3.43 [Member]  
Options Outstanding, Outstanding Exercise Price | $ / shares $ 3.43
Options Outstanding, Outstanding Number of Options 58,920
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, 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, 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 0 years
Options Exercisable, Exercisable Number of Options 1,723
Exercise Price 4.53 [Member]  
Options Outstanding, Outstanding Exercise Price | $ / shares $ 4.53
Options Outstanding, Outstanding Number of Options 127,000
Options Exercisable, Exercisable Number of Options 0
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 7 months 6 days
Options Exercisable, Exercisable Number of Options 11,112
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 2 months 12 days
Options Exercisable, Exercisable Number of Options 5,500
Exercise Price 5.11 [Member]  
Options Outstanding, Outstanding Exercise Price | $ / shares $ 5.11
Options Outstanding, Outstanding Number of Options 1,637
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 2 months 12 days
Options Exercisable, Exercisable Number of Options 15,125
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 3 months 18 days
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, Exercisable Number of Options 0
Exercise Price 6.01 [Member]  
Options Outstanding, Outstanding Exercise Price | $ / shares $ 6.01
Options Outstanding, Outstanding Number of Options 652,899
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 1 month 6 days
Options Exercisable, Exercisable Number of Options 296,119
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
Options Exercisable, Exercisable Number of Options 58,333
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 6 years 9 months 18 days
Options Exercisable, Exercisable Number of Options 166,918