Quarterly report pursuant to Section 13 or 15(d)

Stock-Based Compensation - Equity Incentive Plan (Details)

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Stock-Based Compensation - Equity Incentive Plan (Details) - 2015 Equity Incentive Plan - shares
Jun. 15, 2021
Jan. 31, 2018
Sep. 30, 2021
Dec. 31, 2015
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Number of shares authorized for issuance (in shares)     584,848 363,636
Number of additional shares authorized for issuance (in shares) 727,272 545,454