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Stockholders' Equity - Schedule of Options Outstanding (Details) - Equity Incentive 2011 Plan [Member] - $ / shares
 9 Months Ended 12 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Dec. 31, 2020
Dec. 31, 2019
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward]        
Common shares, outstanding beginning of period 1,712,806 1,357,837 1,357,837  
Total stock options granted 266,594 410,215 411,350  
Share-based Compensation Arrangement by Share-based Payment Award, Options, Expirations in Period 0   0  
Common shares, exercised (161,270) (369) (369)  
Common shares, forfeited (17,021)   (56,012)  
Common shares, outstanding end of period 1,801,109   1,712,806 1,357,837
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Exercise Price [Roll Forward]        
Weighted average exercise price, beginning of period $ 2.56 $ 3.24 $ 3.24  
Weighted average exercise price, granted 2.64 $ 0.69 0.69  
Weighted average exercise price, exercised 0.34   1.00  
Weighted average exercise price,expired 0   0  
Weighted average exercise price, forfeited 3.50   5.08  
Weighted average exercise price, end of period $ 2.77   $ 2.56 $ 3.24
Weighted average remaining life (years), outstanding 6 years 2 months 12 days   6 years 10 months 24 days 7 years 2 months 12 days
Common shares expected to vest 1,079,065      
Common shares expected to vest weighted average $ 3.68      
Weighted average remaining useful life exercisable 5 years 2 months 12 days