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Equity - Common Stock and Preferred Stock (Details) - USD ($)
 9 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Stockholders' equity    
Common stock, authorized shares 62,500,000  
Preferred stock, authorized shares 2,000,000  
Net proceeds from the offering $ 5,309,000 $ 6,053,000
ATM    
Stockholders' equity    
Net proceeds from the offering $ 5,300,000  
Common Stock | ATM    
Stockholders' equity    
Number of shares of common stock issued 1,092,570  
Shares Issued, Price Per Share $ 5.03  
Aggregate offering price $ 15,000,000  
Gross proceeds from the offering $ 5,500,000