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Company and Summary of Significant Accounting Policies - Accounts Receivable and Concentration of Credit Risk (Details) - USD ($)	9 Months Ended
	Sep. 30, 2021	Sep. 30, 2020	Dec. 31, 2020
Concentration Risk [Line Items]
Accounts receivable, before allowance for credit loss	$ 6,875,577		$ 5,148,213
Unbilled receivables	217,451		58,992
Allowance for doubtful accounts receivable	$ 155,000		$ 155,000
Accounts Receivable [Member]
Concentration Risk [Line Items]
Concentration risk, customer	one
Accounts Receivable [Member] \| Customer Concentration Risk
Concentration Risk [Line Items]
Concentration risk, percentage	14.00%
Revenue Benchmark
Concentration Risk [Line Items]
Concentration risk, customer	one	no
Revenue Benchmark \| Customer Concentration Risk
Concentration Risk [Line Items]
Concentration risk, percentage	13.00%