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Stock Options - Summary of Stock Option Activity (Details) - USD ($)
 12 Months Ended
Dec. 31, 2020
Dec. 31, 2022
Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award      
Stock options vesting period   12 months  
2021 Stock Plan      
Share-based Compensation Arrangement by Share-based Payment Award      
Number of options, granted (in shares)   1,030,000  
Number of Options, Forfeited/Expired (in shares)   (2,500)  
Number of Options, Outstanding - Ending balance (in shares)   1,027,500  
Number of Options Exercisable (in shares)   18,750  
Number of Options, Vested and Expected to Vest (in shares)   1,027,500  
Weighted Average Exercise Price Granted (in dollars per shares)   $ 3.46  
Weighted Average Exercise Price Forfeited/Expired (in dollars per shares)   3.41  
Weighted Average Exercise Price Outstanding (in dollars per shares)   3.46  
Weighted Average Exercise Price Exercisable (in dollars per shares)   5.40  
Weighted Average Exercise Price Vested and Expected to Vest (in dollars per shares)   $ 3.46  
Weighted Average Remaining Contractual Term Outstanding (in years)   9 years 9 months  
Weighted Average Remaining Contractual Term Exercisable (in years)   9 years 6 months 7 days  
Weighted Average Remaining Contractual Term Vested and Expected to Vest (in years)   9 years 9 months  
Non employee director | 2013 Stock Plan      
Share-based Compensation Arrangement by Share-based Payment Award      
Number of options, granted (in shares)   110,000  
Non employee director | 2021 Stock Plan      
Share-based Compensation Arrangement by Share-based Payment Award      
Number of options, granted (in shares)   132,000  
Non employee member      
Share-based Compensation Arrangement by Share-based Payment Award      
Number of options, granted (in shares)   50,000  
Employee stock option | 2013 Stock Plan      
Share-based Compensation Arrangement by Share-based Payment Award      
Number of Options, Outstanding - Beginning balance (in shares)   5,536,896 5,906,884
Number of options, granted (in shares)   1,774,558 1,226,300
Number of Options, Exercised (in shares)   (248,763) (1,556,288)
Number of Options, Forfeited/Expired (in shares)   (372,201) (40,000)
Number of Options, Outstanding - Ending balance (in shares) 5,906,884 6,690,490 5,536,896
Number of Options Exercisable (in shares)   4,124,775  
Number of Options, Vested and Expected to Vest (in shares)   6,690,490  
Weighted Average Exercise Price Outstanding (in dollars per shares)   $ 2.66 $ 1.61
Weighted Average Exercise Price Granted (in dollars per shares)   4.91 6.84
Weighted Average Exercise Price Exercised (in dollars per shares)   1.34 2.01
Weighted Average Exercise Price Forfeited/Expired (in dollars per shares)   6.55 1.41
Weighted Average Exercise Price Outstanding (in dollars per shares) $ 1.61 3.09 $ 2.66
Weighted Average Exercise Price Exercisable (in dollars per shares)   1.96  
Weighted Average Exercise Price Vested and Expected to Vest (in dollars per shares)   $ 3.09  
Weighted Average Remaining Contractual Term Outstanding (in years) 6 years 10 months 9 days 7 years 2 months 8 days 7 years 6 months 7 days
Weighted Average Remaining Contractual Term Exercisable (in years)   6 years 1 month 6 days  
Weighted Average Remaining Contractual Term Vested and Expected to Vest (in years)   7 years 2 months 8 days  
Aggregate Intrinsic Value, Outstanding $ 89,405 $ 5,989,709 $ 19,154,463
Aggregate Intrinsic Value, Exercisable   5,533,056  
Aggregate Intrinsic Value, Vested and Expected to Vest   $ 5,989,709