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Equity - Equity Incentive Plan (Details)
1 Months Ended 12 Months Ended
May 08, 2019
shares
Dec. 31, 2019
shares
Dec. 31, 2020
$ / shares
shares
Dec. 31, 2019
USD ($)
$ / shares
shares
Dec. 31, 2018
shares
Share-based compensation          
Grants of stock options     743,161 1,328,718  
Stock option forfeitures (in shares)     60,100 77,937  
Exercise of stock options (in shares)     117,000    
Share-based Compensation Outstanding - Reserved but unissued shares under the Plan   2,131,058 2,697,119 2,131,058 880,277
Exercise price (in dollars per share) | $ / shares     $ 1.07 $ 1.32  
Noncontrolling interest granted as compensation | $       $ 6,000  
Ownership Percentage Of Noncontrolling Interest Increase From Amount Granted As Compensation   1      
Equity Incentive Plan [Member]          
Share-based compensation          
Number of common stock reserved for issuance     4,505,728    
Reserved but unissued shares under the Consultant Plan at January 1     1,282,027 1,296,462  
Increases in the number of authorized shares under the Consultant Plan 1,231,593   500,764 1,236,346  
Grants of stock options     743,161 1,328,718  
Stock option forfeitures (in shares)     60,100 77,937  
Exercise of stock options (in shares)     117,000    
Reserved but unissued shares under the Consultant Plan at Period End   1,282,027 1,216,730 1,282,027  
Share-based Compensation Arrangement by Share-based Payment Award, Number of Additional Shares Authorized 1,231,593   500,764 1,236,346  
Share-based Compensation Arrangement by Share-based Payment Award, Percentage of Outstanding Stock Maximum 15.00%        
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Authorized 4,004,214        
Maximum increase in available number of authorized shares as a percentage of new shares issued     15.00%    
Equity Incentive Plan [Member] | Minimum [Member]          
Share-based compensation          
Purchase price (as a percent)     85.00%