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Stockholders' Equity - Schedule of Nonvested Stock Option (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, Nonvested, Number of Shares [Roll Forward]        
Common shares, nonvested beginning of period 715,486 600,779 600,779  
Common shares, granted 266,594 410,215 411,350  
Common shares, vested (251,647)   (283,766)  
Common shares, forfeited (8,389)   (12,877)  
Common shares, nonvested end of period 722,044   715,486 600,779
Share-based Compensation Arrangement by Share-based Payment Award, Options, Nonvested, Weighted Average Grant Date Fair Value [Roll Forward]        
Weighted average grant date fair value, nonvested beginning of period $ 0.56 $ 0.64 $ 0.64  
Weighted average grant date fair value, granted 2.81 $ 0.56 0.56  
Weighted average grant date fair value, vested 0.65   0.72  
Weighted average grant date fair value, forfeited 0.92   0.88  
Weighted average grant date fair value, nonvested end of period $ 0.93   $ 0.56 $ 0.64
Weighted average remaining years to vest (in years) 2 years 4 months 24 days   2 years 6 months 3 years